Patent Document ID: 10126135
Application ID: 14969151
Patent Flag: 1

Claim One:
1. A vehicle comprising: a processor configured to execute instructions stored on a non-transitory computer readable medium to: identify transportation network information representing a vehicle transportation network, the vehicle transportation network including a primary destination, wherein identifying the transportation network information includes identifying the transportation network information such that the transportation network information includes expected traffic control device state information, wherein the expected traffic control device state information is determined using an expected traffic control device state determination unit, wherein the expected traffic control device state determination unit implements a machine learning algorithm to determine the expected traffic control device state information, wherein the machine learning algorithm includes an artificial neural network algorithm trained using a plurality of selected traffic control features identified based on traffic control information for a traffic control device controller associated with a vehicle transportation network intersection, and identify a route from an origin to the primary destination in the vehicle transportation network using the transportation network information, wherein the route includes the vehicle transportation network intersection, and wherein the expected traffic control device state information includes expected traffic control device state information corresponding to the vehicle transportation network intersection, and wherein using the transportation network information includes using the expected traffic control device state information corresponding to the vehicle transportation network intersection; and a trajectory controller configured to operate the vehicle to traverse the vehicle transportation network from the origin to the primary destination using the route.