Automated system and method for modeling the behavior of vehicles and other agents
AssigneeWaymo LLC
InventorsJiajun Zhu, David I. Ferguson, Dmitri A. Dolgov
Life of this patent
Estimating the term…
Abstract
A method and apparatus are provided for determining one or more behavior models used by an autonomous vehicle to predict the behavior of detected objects. The autonomous vehicle may collect and record object behavior using one or more sensors. The autonomous vehicle may then communicate the recorded object behavior to a server operative to determine the behavior models. The server may determine the behavior models according to a given object classification, actions of interest performed by the object, and the object's perceived surroundings.
Claims20
A method of maneuvering a vehicle, the method comprising:
- receiving, by one or more processors, object data, wherein the object data comprises a location of an object in an environment of the vehicle;
- identifying, from the object data, a classification of the object;
- identifying a behavior of interest corresponding to an action taken by the object based on the object data and on map information identifying a road element corresponding to the location of the object;
- retrieving from memory, a behavior model for objects configured to predict how another object, having the same classification as the object, will behave based on the classification;
- and
- maneuvering the vehicle, by the one or more processors, based on the behavior model and the identified behavior of interest,
- wherein the object data further includes movement information for the object and identifying the behavior of interest is further based on a comparison between the road element and the movement information and the comparison indicates that the object has performed the behavior of interest.
A system for maneuvering a vehicle, the system comprising one or more processors configured to:
- receive object data, wherein the object data comprises a location of an object in an environment of the vehicle;
- identify, from the object data, a classification of the object;
- identify a behavior of interest corresponding to an action taken by the object based on the object data and on map information identifying a road element corresponding to the location of the object;
- retrieve from memory, a behavior model for objects configured to predict how another object, having the same classification as the object, will behave based on the classification;
- and
- maneuver the vehicle based on the behavior model and the identified behavior of interest,
- wherein the object data further includes movement information for the object, and the one or more processors are further configured to identify the behavior of interest further based on a comparison between the road element and the movement information and the comparison indicates that the object has performed the behavior of interest.
A non-transitory, computer readable recording medium on which instructions are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method of maneuvering a vehicle, the method comprising:
- receiving object data, wherein the object data comprises a location of an object in an environment of the vehicle;
- identifying, from the object data, a classification of the object;
- identifying a behavior of interest corresponding to an action taken by the object based on the object data and on map information identifying a road element corresponding to the location of the object;
- retrieving from memory, a behavior model for objects configured to predict how another object, having the same classification as the object, will behave based on the classification;
- and
- maneuvering the vehicle based on the behavior model and the identified behavior of interest,
- wherein the object data further includes movement information for the object and identifying the behavior of interest is further based on a comparison between the road element and the movement information and the comparison indicates that the object has performed the behavior of interest.
Dependencies are inferred from the claim text.