# US 12,759,557 B2 · Autonomous vehicle interaction and profile sharing > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,759,557 B2 - Document ID: US12759557B2 - Status: Granted - Kind: B2 - Application number: 18/980,365 - Filed: 2024-12-13 - Published: 2025-04-03 - Granted: 2026-10-13 - Earliest claimed: 2022-03-23 - Assignees: Zoox, Inc. - Applicants: Zoox, Inc. - Inventors: Taylor Andrew Arnicar - Web page: https://patentgrep.com/patent/US12759557B2 ## CPC - B60W 40/04: Traffic conditions - B60W 50/0097: {Predicting future conditions} - B60W 60/001: {Planning or execution of driving tasks} - G08G 1/20: {Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2420/54: Audio sensitive means, e.g. ultrasound - B60W 2554/4044: Direction of movement, e.g. backwards - B60W 2554/4046: Behavior, e.g. aggressive or erratic - B60W 2554/408: Traffic behavior, e.g. swarm - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - 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 Techniques for determining behavior profiles and unique identities for objects observed in an environment surrounding an autonomous vehicle are described. The behavior profiles may be generated and associated with unique identifiers that are stored and used by a fleet of vehicles for planning and navigating in traffic environments. The behavior profiles may be used to control operation of the vehicle and increase safety of the vehicle by identifying potentially risky or erratic objects and navigating through the environment accordingly. The behavior profiles may be stored at a central database and propagated across a fleet to increase observations used to build profiles and thereby increase profile confidence. ## Claims ### Claim 1 A system comprising: one or more processors; and one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the system to perform operations comprising: determining a behavior profile corresponding to an object within an environment in which a fleet of vehicles operate; determining an identifier that is unique to the object; storing the behavior profile with the identifier in a database, the database comprising data associated with a second vehicle and a non-vehicle; and conveying the behavior profile to a vehicle of the fleet of vehicles, wherein movement of the vehicle is controlled based at least in part on the behavior profile. ### Claim 2 (depends on 1) The system of claim 1, wherein the identifier is determined based at least in part on third party data. ### Claim 3 (depends on 1) The system of claim 1, wherein determining the identifier is based at least in part on: receiving, from a sensor device associated with the vehicle, sensor data, wherein the identifier is determined based at least in part on the sensor data. ### Claim 4 (depends on 1) The system of claim 1, wherein the object associated with the behavior profile is at a location in the environment, and the operations further comprise: conveying the behavior profile to a subset of the fleet of vehicles within a predetermined distance of the location. ### Claim 5 (depends on 1) The system of claim 1, the operations further comprising: determining a likelihood for the object to diverge from an expected behavior; determining that the likelihood meets or exceeds a threshold value; and conveying the behavior profile to the fleet of vehicles based at least in part on the likelihood meeting or exceeding the threshold value. ### Claim 6 One or more non transitory computer readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause a system to perform operations comprising: determining a behavior profile corresponding to an object within an environment in which a fleet of vehicles operate; determining an identifier that is unique to the object; storing the behavior profile with the identifier; and conveying the behavior profile to a vehicle of the fleet of vehicles, wherein movement of the vehicle is controlled based at least in part on the behavior profile. ### Claim 7 (depends on 6) The one or more non transitory computer readable media of claim 6, wherein the identifier is determined based at least in part on third party data. ### Claim 8 (depends on 6) The one or more non transitory computer readable media of claim 6, wherein determining the identifier is based at least in part on: receiving, from a sensor device associated with the vehicle, sensor data, wherein the identifier is determined based at least in part on the sensor data. ### Claim 9 (depends on 6) The one or more non transitory computer readable media of claim 6, wherein the object associated with the behavior profile is at a location in the environment, and the operations further comprise: conveying the behavior profile to a subset of the fleet of vehicles within a predetermined distance of the location. ### Claim 10 (depends on 6) The one or more non transitory computer readable media of claim 6, the operations further comprising: determining a likelihood for the object to diverge from an expected behavior; determining that the likelihood meets or exceeds a threshold value; and conveying the behavior profile to the fleet of vehicles based at least in part on the likelihood meeting or exceeding the threshold value. ### Claim 11 (depends on 6) The one or more non transitory computer readable media of claim 6, wherein the behavior profile includes a confidence score, the confidence score indicative of a confidence of the behavior profile to predict behavior of the object, wherein the confidence score is based at least in part on a temporal proximity of the behavior profile to a present time and additional observations of the object. ### Claim 12 (depends on 6) The one or more non transitory computer readable media of claim 6, the operations further comprising: accessing, based at least in part on the identifier, a database; selecting, from the database, the behavior profile for the object; and updating the behavior profile based at least in part on sensor data. ### Claim 13 (depends on 6) The one or more non transitory computer readable media of claim 6, wherein the identifier comprises a hash value that includes a location of the object. ### Claim 14 A method comprising: determining a behavior profile corresponding to an object within an environment in which a fleet of vehicles operate; determining an identifier that is unique to the object; storing the behavior profile with the identifier; and conveying the behavior profile to a vehicle of the fleet of vehicles, wherein movement of the vehicle is controlled based at least in part on the behavior profile. ### Claim 15 (depends on 14) The method of claim 14, wherein the identifier is determined based at least in part on third party data. ### Claim 16 (depends on 14) The method of claim 14, wherein determining the identifier is based at least in part on: receiving, from a sensor device associated with the vehicle, sensor data, wherein the identifier is determined based at least in part on the sensor data. ### Claim 17 (depends on 14) The method of claim 14, wherein the object associated with the behavior profile is at a location in the environment, and the method further comprises: conveying the behavior profile to a subset of the fleet of vehicles within a predetermined distance of the location. ### Claim 18 (depends on 14) The method of claim 14, further comprising: determining a likelihood for the object to diverge from an expected behavior; determining that the likelihood meets or exceeds a threshold value; and conveying the behavior profile to the fleet of vehicles based at least in part on the likelihood meeting or exceeding the threshold value. ### Claim 19 (depends on 14) The method of claim 14, wherein the identifier comprises a hash value that includes a location of the object. ### Claim 20 (depends on 14) The method of claim 14, further comprising: accessing, based at least in part on the identifier, a database; selecting, from the database, the behavior profile for the object; and updating the behavior profile based at least in part on sensor data.