Patent Document ID: 9187088
Application ID: 14585681
Patent Flag: 1

Claim One:
1. A method comprising: receiving, from a computing device coupled to an autonomous vehicle, input values that indicate attributes of an object within a threshold distance of the autonomous vehicle and variance values indicating uncertainty associated with the input values; providing a plurality of outcomes, wherein a given outcome is associated with a combination of split decisions, wherein a given split decision indicates whether a particular input value from among the input values is above or below a threshold value associated with the given split decision; determining, for the given split decision, (i) a probability that the particular input value is above the threshold value and (ii) a probability that the particular input value is below the threshold value based on the particular input value and the variance value associated with the particular input value; determining one or more likelihoods associated with the given outcome, wherein a given likelihood is determined based on the determined probabilities associated with the combination of split decisions indicated by the given outcome; and based on the determined one or more likelihoods, providing instructions executable by the computing device to control the autonomous vehicle.