Patent Document ID: 9511767
Application ID: 14789004
Patent Flag: 1

Claim One:
1. An automated driving system, comprising: a perception system disposed on an autonomous vehicle; and a computing device in communication with the perception system, comprising: one or more processors for controlling operations of the computing device; and a memory for storing data and program instructions used by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to: detect, using the perception system, information for an environment proximate to the autonomous vehicle, the information including current behavior of an object of interest and traffic density information; determine a classifier for the environment based on a prediction of future behavior of the object of interest; based on the classifier, identify a transition between vehicle states, the vehicle states associated with a planned action for the autonomous vehicle; and send a command to one or more vehicle systems to control the autonomous vehicle to execute the planned action according to the transition.