Patent ID: 11970166
Assignee: BEIJING VOYAGER TECHNOLOGY CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 12:
13. A non-transitory computer readable medium storing instructions that, when executed by one or more processors, cause the one or more processors to:
receive a non-yield backup prediction for an autonomous vehicle regarding a traffic participant in a region of interest in a road network surrounding the vehicle, the non-yield backup prediction including a non-yield probability value for the traffic participant not yielding to the vehicle;
obtain, from a sensor system onboard the vehicle, driving information for other traffic participants surrounding the vehicle within the region of interest, the driving information including a speed of each of the other traffic participants;
determine an average speed of the other traffic participants;
determining a cautious driving speed for the vehicle by calculating a reverse probability value and multiplying the average speed of the other traffic participants by the reverse probability value, the reverse probability value being a reverse percentage of the non-yield probability value relative to a maximum value for the non-yield probability value; and
with a speed of the vehicle being greater than the cautious driving speed, control the vehicle to reduce the speed of the vehicle to the cautious driving speed.