Patent Document ID: 9330571
Application ID: 14165740
Patent Flag: 1

Claim One:
1. A method, comprising: receiving, at a computing system configured to control a first vehicle, vehicle information indicative of lane of travel, speed, and pose of the first vehicle, wherein the pose of the first vehicle includes heading and orientation of the first vehicle; estimating one or more possible future behaviors of a second vehicle in a vicinity of the first vehicle based on (i) a predicted behavior of the second vehicle in response to an action of the first vehicle, and (ii) location, speed, and pose of the second vehicle relative to the first vehicle and other objects in the vicinity of the first vehicle, wherein the one or more possible future behaviors of the second vehicle comprise the second vehicle changing one or more of the speed, the pose, and a lane of travel of the second vehicle; determining respective likelihoods of occurrence for the one or more possible future behaviors of the second vehicle; and based on the respective likelihoods, determining whether to maintain or modify one or more of the speed, pose, and lane of travel of the first vehicle.