{
  "$type": "site.standard.document",
  "description": "An obstacle is detected based on sensor data obtained from a plurality of sensors of the ADV. Multiple trajectories of the obstacle are predicted with corresponding probabilities including a first predicted trajectory of the obstacle with a highest probability and a second predicted trajectory of…",
  "path": "/patents/1401513",
  "publishedAt": "2024-05-08T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/0956",
    "BAIDU USA LLC [US]"
  ],
  "textContent": "An obstacle is detected based on sensor data obtained from a plurality of sensors of the ADV. Multiple trajectories of the obstacle are predicted with corresponding probabilities including a first predicted trajectory of the obstacle with a highest probability and a second predicted trajectory of the obstacle with a second highest probability. A cautionary trajectory of the ADV is planned based on at least one of a difference between the highest probability and the second highest probability or a consequence of the second trajectory. The ADV is to drive with a speed lower than a speed limit and prepare to stop in the cautionary trajectory. The ADV is controlled to drive according to the cautionary trajectory.",
  "title": "DRIVE WITH CAUTION UNDER UNCERTAINTY FOR AN AUTONOMOUS DRIVING VEHICLE"
}