US 11,816,900 B2
Approaches for encoding environmental information
Ivan Kirigan, Redwood City, CA (US); David Tse-Zhou Lu, Menlo Park, CA (US); Sheng Yang, Palo Alto, CA (US); Ranjith Unnikrishnan, Fremont, CA (US); Emilie Jeanne Anne Danna, Sunnyvale, CA (US); Weiyi Hou, Mountain View, CA (US); Daxiao Liu, Sunnyvale, CA (US); Suneet Rajendra Shah, San Francisco, CA (US); and Ying Liu, Los Altos, CA (US)
Assigned to Lyft, Inc., San Francisco, CA (US)
Filed by Lyft, Inc., San Francisco, CA (US)
Filed on Oct. 23, 2019, as Appl. No. 16/661,402.
Prior Publication US 2021/0124350 A1, Apr. 29, 2021
Int. Cl. G01C 22/00 (2006.01); G06V 20/56 (2022.01); G05D 1/00 (2006.01); G06V 10/762 (2022.01); G06V 20/58 (2022.01)
CPC G06V 20/56 (2022.01) [G05D 1/0088 (2013.01); G06V 10/762 (2022.01); G06V 20/58 (2022.01); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
accessing, by a computing system, a plurality of parameter-based encodings providing a structured representation of an environment captured by one or more sensors associated with a plurality of vehicles traveling through the environment, wherein a given parameter-based encoding identifies one or more agents that were detected by a vehicle of the plurality of vehicles within the environment and at least one of: respective location information, distance information, motion information, or time information for the one or more agents within the environment, and wherein the plurality of parameter-based encodings are clustered into one or more clusters of parameter-based encodings;
determining, by the computing system, at least one scenario associated with the environment based at least in part on the one or more clusters of parameter-based encodings;
determining, by the computing system, vehicle behavior for the vehicle based at least in part on instances in the one or more clusters of parameter-based encodings where other vehicles of the plurality of vehicles navigated the at least one scenario; and
causing, by the computing system, control of an operation of the vehicle based on the determined vehicle behavior.