Pedestrian probability prediction system for autonomous vehicles
AssigneesBaidu USA LLC, Baidu.Com Times Technology (Beijing) Co., Ltd.
InventorsFan Zhu, Lin Ma
Life of this patent
Estimating the term…
Abstract
According to some embodiments, a system receives a captured image perceiving an environment of an ADV from an image capturing device of the ADV. The system identifies an obstacle in motion near the ADV based on the captured image. The system predicts a location for the moving obstacle at each of a number of time points. The system generates a probability ellipse based on the predicted location at the each time point, where the probability ellipse includes a probability indicator indicating different probabilities of the moving obstacle for different locations within the probability ellipse at the each time point.
Claims20
A computer-implemented method for an autonomous driving vehicle (ADV), the method comprising:
- receiving a captured image perceiving an environment of an ADV from an image capturing device of the ADV;
- identifying an obstacle in motion near the ADV based on the captured image;
- predicting a location for the moving obstacle at each of a plurality of time points;
- generating a probability ellipse based on the predicted location at each time point of the plurality of time points, wherein the probability ellipse includes a probability indicator indicating different probabilities of the moving obstacle for different locations within the probability ellipse at the each time point and the probability ellipse has a longitudinal axis in the same direction as a moving direction of the moving obstacle;
- planning a driving trajectory based on the probability ellipse;
- and
- controlling automatic driving execution of the ADV with the driving trajectory.
A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:
- receiving a captured image perceiving an environment of an ADV from an image capturing device of the ADV;
- identifying an obstacle in motion near the ADV based on the captured image;
- predicting a location for the moving obstacle at each of a plurality of time points;
- generating a probability ellipse based on the predicted location at each time point of the plurality of time points, wherein the probability ellipse includes a probability indicator indicating different probabilities of the moving obstacle for different locations within the probability ellipse at the each time point and the probability ellipse has a longitudinal axis in the same direction as a moving direction of the moving obstacle;
- planning a driving trajectory based on the probability ellipse;
- and
- controlling automatic driving execution of the ADV with the driving trajectory.
A data processing system, comprising:
- a processor;
- and
- a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including:
- receiving a captured image perceiving an environment of an ADV from an image capturing device of the ADV;
- identifying an obstacle in motion near the ADV based on the captured image;
- predicting a location for the moving obstacle at each of a plurality of time points;
- generating a probability ellipse based on the predicted location at each time point of the plurality of time points, wherein the probability ellipse includes a probability indicator indicating different probabilities of the moving obstacle for different locations within the probability ellipse at the each time point and the probability ellipse has a longitudinal axis in the same direction as a moving direction of the moving obstacle;
- planning a driving trajectory based on the probability ellipse;
- and
- controlling automatic driving execution of the ADV with the driving trajectory.
Dependencies are inferred from the claim text.