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 and movement information for the object;
- determining, from the object data, a classification of the object, the classification being a type of a vehicle or a pedestrian;
- identifying a behavior of interest corresponding to an action taken by the object based on (1) the object data, (2) map information identifying a road element corresponding to the location of the object, (3) a comparison between the road element and movement information for the object, the comparison indicating that the object has performed the behavior of interest, and (4) the classification of the object;
- and
- maneuvering the vehicle, by the one or more processors, based on the identified behavior of interest, wherein the road element comprises a first lane of traffic or an intersection.
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 and movement information for the object;
- determine, from the object data, a classification of the object, the classification being a type of a vehicle or a pedestrian;
- identify a behavior of interest corresponding to an action taken by the object based on (1) the object data, (2) map information identifying a road element corresponding to the location of the object, (3) a comparison between the road element and movement information for the object, the comparison indicating that the object has performed the behavior of interest, and (4) the classification of the object;
- and
- maneuver the vehicle based on the identified behavior of interest, wherein the road element comprises a first lane of traffic or an intersection.
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 and movement information for the object;
- determining, from the object data, a classification of the object, the classification being a type of a vehicle or a pedestrian;
- identifying a behavior of interest corresponding to an action taken by the object based on (1) the object data, (2) map information identifying a road element corresponding to the location of the object, (3) a comparison between the road element and movement information for the object, the comparison indicating that the object has performed the behavior of interest, and (4) the classification of the object;
- and
- maneuvering the vehicle based on the identified behavior of interest, wherein the road element comprises a first lane of traffic or an intersection.
Dependencies are inferred from the claim text.