In the autonomy camps, one fault line is how much you bet on predicting other agents versus reacting to them. Aurora's grant US10906536B2 ("Control of autonomous vehicle based on determined yaw parameter(s) of additional vehicle," issued February 2, 2021; inventors include Sterling J. Anderson, James Andrew Bagnell, Christopher Paul Urmson) plants a flag on prediction: it estimates a neighboring vehicle's yaw — how fast it's turning — and feeds that into the ego vehicle's control. Knowing a car is turning before it has finished turning is a prediction bet.

The mechanism estimates a motion parameter (yaw rate) of another vehicle from sensor data, likely LiDAR (G01S 17/931), using learned models (G06N 20/00), and the controlling-relevant code is B60W 30/0956 — explicitly, anticipating the probable movement of other road users. The claim is fenced around using that anticipation as a control input, not merely as a display.

For the control beat, this is a clean Camp-Lines artifact. Estimating yaw and acting on it is a commitment to behavior prediction as a first-class control signal — the philosophy that an AV should model intent, not just positions. The pedigree (Aurora's founders are ex-Waymo/Uber/CMU autonomy leaders) makes the stance deliberate: this is how that lineage thinks the problem should be solved.

From a portfolio view, prediction-input control claims are valuable because they sit upstream of a lot of downstream behavior. If your planner consumes predicted yaw, you read on this claim regardless of how your planner is built. That upstream position is exactly what makes it a strategic asset — and Aurora has reissued/continued the family (a 2025 child, US12304494B2, carries the same title), confirming sustained investment.

Caveats. Predicting other vehicles' motion is a crowded field, and yaw estimation specifically has prior art in ADAS; the grant turns on the specific estimation-and-control link in claim 1. The B60W 30/0956 code marks the camp; it doesn't prove breadth. Read the independent claim for how the yaw estimate is computed and consumed.

For the file: a prediction-first AV-control grant with a live 2025 continuation. Pull US10906536B2 and US12304494B2 on PatentBear, read claim 1 for the yaw-estimate-to-control link, and file it under the prediction camp of the autonomy claim war.