Patent ID: 11873012
Assignee: HONDA MOTOR CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 16:
17. A non-transitory computer readable storage medium storing instructions that when executed by a computer, which includes a processor, perform a method, the method comprising:
receiving environment data including one or more features associated with a surrounding environment of an ego vehicle, the one or more features including at least roadways, static objects and dynamic agents;
implementing graph convolutions to obtain attention weights that are respectively associated with agents that are located within the surrounding environment;
decoding multi modal trajectories and probabilities for each of the agents based on the attention weights for each agent as input, wherein predicted trajectories are determined for each of the agents and rankings associated with probabilities of usage and overlap that are associated with each of the predicted trajectories with respect to a travel path of the ego vehicle are outputted; and
controlling at least one vehicle system of the ego vehicle based on the predicted trajectories associated with each of the agents and the rankings associated with the probabilities,
wherein controlling the at least one vehicle system of the ego vehicle includes comparing the rankings associated with the probabilities to determine if the rankings are ranked higher than a predetermined probability threshold, wherein the predetermined probability threshold is a dynamic threshold associated with the features of the surrounding environment, the position of the ego vehicle with respect to the agents, the travel path of the ego vehicle, and the probabilities of overlap between the projected trajectories and the travel path of the ego vehicle,
wherein autonomous control parameters are output to autonomously control the ego vehicle within the surrounding environment of the ego vehicle based on the predicted trajectories associated with each of the agents and the rankings associated with the probabilities.