# US 10,768,637 B2 · Prioritizing vehicle navigation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,768,637 B2 - Document ID: US10768637B2 - Status: Granted - Kind: B2 - Application number: 16/117,868 - Filed: 2018-08-30 - Published: 2020-03-05 - Granted: 2020-09-08 - Earliest claimed: 2018-08-30 - Assignees: Pony AI Inc. - Applicants: Pony AI, Inc. - Inventors: Xing He; Xiang Yu; Tiancheng Lou; Jun Peng; Nengxiu Deng; Hao Song - Web page: https://patentgrep.com/patent/US10768637B2 ## CPC - G05D 1/0293: {Convoy travelling} - G08G 1/0965: responding to signals from another vehicle, e.g. emergency vehicle - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract Systems, methods, and non-transitory computer readable media may be configured to facilitate prioritization of vehicle navigation. One or more vehicles in an environment of a priority vehicle may be identified. Priorities of the vehicle(s) and the priority vehicle may be determined. A desired navigation of the priority vehicle in the environment may be determined based on the priorities of the vehicle(s) and the priority vehicle. An instruction may be provided to at least one of the vehicle(s) based on the desired navigation of the priority vehicle in the environment. The instruction may characterize one or more maneuvers to be performed by the at least one of the vehicle(s) to facilitate the desired navigation of the priority vehicle. ## Claims ### Claim 1 A system comprising: one or more processors; and a memory storing instructions that, when executed by the one or more processors, cause the system to perform: identifying vehicles in an environment of a priority vehicle, wherein the vehicles include a first vehicle configured to receive direct commands from the system and second and third vehicles that do not receive direct commands from the system, the first vehicle being in front of the third vehicle, and the third vehicle being in front of the priority vehicle, determining relative priorities of the first vehicle and the priority vehicle, the priority vehicle determined to have a higher priority than the first vehicle; determining a desired navigation of the priority vehicle in the environment based on the relative priorities of the first vehicle and the priority vehicle; and providing an instruction to the first vehicle based on the desired navigation of the priority vehicle in the environment, the instruction characterizing one or more maneuvers to be performed by the first vehicle to facilitate the desired navigation of the priority vehicle, wherein: in response to the priority vehicle being obstructed by the second vehicle and the third vehicle, the instruction comprises commanding the first vehicle to move in front of the second vehicle, and to reduce a speed of the first vehicle to a speed lower than a speed of the third vehicle. ### Claim 2 (depends on 1) The system of claim 1, wherein the first vehicle includes an autonomous vehicle. ### Claim 3 (depends on 1) The system of claim 1, wherein the instructions further cause the system to perform: providing an instruction to the second vehicle using a signal of the priority vehicle to convey one or more maneuvers to be performed by the priority vehicle. ### Claim 4 (depends on 1) The system of claim 1, wherein the second vehicle includes a non-autonomous vehicle, an uncommunicative autonomous vehicle, or an incompatible autonomous vehicle. ### Claim 5 (depends on 1) The system of claim 1, wherein the instructions further cause the system to perform: providing an instruction to the first vehicle and a fourth vehicle configured to receive direct commands from the system, the instruction including a command causing that causes the first and fourth vehicles to perform one or more maneuvers to confine a movement of the second vehicle in the environment. ### Claim 6 (depends on 1) The system of claim 1, wherein the instruction is provided by the priority vehicle to the first vehicle. ### Claim 7 (depends on 1) The system of claim 1, wherein the instruction is provided by a central server to the first vehicle. ### Claim 8 (depends on 1) The system of claim 1, wherein the relative priorities of the first vehicle and the priority vehicle are determined based on a vehicle type or a priority bid. ### Claim 9 (depends on 1) The system of claim 1, wherein the instructions further cause the system to perform: sending a second instruction to the priority vehicle or the first vehicle, the second instruction commanding the priority vehicle or the first vehicle to signal for the second vehicle to perform a second maneuver. ### Claim 10 (depends on 1) The system of claim 1, wherein the first vehicle, the third vehicle, and the priority vehicle are travelling on a first lane, the second vehicle is on a second lane adjacent to the first lane, and the instruction provides: a command to the first vehicle to switch to the second lane in front of the second vehicle; and a second command to the priority vehicle to pass the second vehicle and the first vehicle. ### Claim 11 A method implemented by a computing system including one or more processors and storage media storing machine-readable instructions, wherein the method is performed using the one or more processors, the method comprising: identifying vehicles in an environment of a priority vehicle, wherein the vehicles include a first vehicle configured to receive direct commands from the system and second and third vehicles that do not receive direct commands from the system, the first vehicle being in front of the third vehicle, and the third vehicle being in front of the priority vehicle; determining relative priorities of the first vehicle and the priority vehicle, the priority vehicle determined to have a higher priority than the first vehicle; determining a desired navigation of the priority vehicle in the environment based on the relative priorities of the first vehicle and the priority vehicle; and providing an instruction to the first vehicle based on the desired navigation of the priority vehicle in the environment, the instruction characterizing one or more maneuvers to be performed by the first vehicle to facilitate the desired navigation of the priority vehicle, wherein: in response to the priority vehicle being obstructed by the second vehicle and the third vehicle, the instruction comprises commanding the first vehicle to move in front of the second vehicle, and to reduce a speed of the first vehicle to a speed lower than a speed of the third vehicle. ### Claim 12 (depends on 11) The method of claim 11, further comprising: providing an instruction to the second vehicle using a signal of the priority vehicle to convey one or more maneuvers to be performed by the priority vehicle. ### Claim 13 (depends on 11) The method of claim 11, wherein the second vehicle includes a non-autonomous vehicle, an uncommunicative autonomous vehicle, or an incompatible autonomous vehicle. ### Claim 14 (depends on 11) The method of claim 11, further comprising: providing an instruction to the first vehicle and a fourth vehicle configured to receive direct commands from the system, the instruction including a command that causes the first and fourth vehicles to perform one or more maneuvers to confine a movement of the second vehicle in the environment. ### Claim 15 (depends on 11) The method of claim 11, wherein the instruction is provided by the priority vehicle to the first vehicle. ### Claim 16 (depends on 11) The method of claim 11, wherein the instruction is provided by a central server to the first vehicle. ### Claim 17 (depends on 11) The method of claim 11, wherein the respective priorities of the first vehicle and the priority vehicle are determined based on a vehicle type or a priority bid. ### Claim 18 A non-transitory computer readable medium comprising instructions that, when executed, cause one or more processors to perform: identifying vehicles in an environment of a priority vehicle, wherein the vehicles include a first vehicle configured to receive direct commands from the system and second and third vehicles that do not receive direct commands from the system, the first vehicle being in front of the third vehicle, and the third vehicle being in front of the priority vehicle; determining relative priorities of the first vehicle and the priority vehicle, the priority vehicle determined to have a higher priority than the first vehicle; determining a desired navigation of the priority vehicle in the environment based on the relative priorities of the first vehicle and the priority vehicle, and based on a collective travel time for the first vehicle and the priority vehicle; and providing an instruction to the first vehicle based on the desired navigation of the priority vehicle in the environment, the instruction characterizing one or more maneuvers to be performed by the first vehicle to facilitate the desired navigation of the priority vehicle, wherein: in response to the priority vehicle being obstructed by the second vehicle and the third vehicle, the instruction comprises commanding the first vehicle to move in front of the second vehicle, and to reduce a speed of the first vehicle to a speed lower than a speed of the third vehicle.