Patent Document ID: 9766626
Application ID: 15161556
Patent Status: 1

Claim One:
1. A method for autonomous control of a first vehicle having one or more processors configured to control the first vehicle in an autonomous driving mode, the method comprising: receiving, from an object sensing system of the vehicle including one or more sensors, information identifying a plurality of mobile objects external to the first vehicle as well as position and movement of each of the plurality of mobile objects; identifying, by one or more processors, an object from the plurality of mobile objects corresponding to a second vehicle; determining, by the one or more processors, how the first vehicle would behave if the first vehicle were placed in the position of the object; using, by the one or more processors, the determination to predict a likely future behavior of the object; and controlling, by the one or more processors, the first vehicle in the autonomous driving mode based on the predicted likely future behavior of the first object.