US 11,433,922 B1 · Object uncertainty detection

Abstract

Techniques for determining an uncertainty metric associated with an object in an environment can include determining the object in the environment and a set of candidate trajectories associated with the object. Further, a vehicle, such as an autonomous vehicle, can be controlled based at least in part on the uncertainty metric. The vehicle can determine a traversed trajectory associated with the object and determine a difference between the traversed trajectory and the set of candidate trajectories. Based on the difference, the vehicle can determine an uncertainty metric associated with the object. In some instances, the vehicle can input the traversed trajectory and the set of candidate trajectories to a machine-learned model that can output the uncertainty metric.

Claims20

Dependent claims

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:
receiving, from a sensor associated with an autonomous vehicle, sensor data representing an environment;
determining, based at least in part on the sensor data, an object represented in the sensor data;
determining, based at least in part on the sensor data, a set of predicted trajectories associated with the object and a set of confidence metrics associated with the object, wherein an individual predicted trajectory of the set of predicted trajectories is associated with an individual confidence metric of the set of confidence metrics;
determining, based at least in part on the set of predicted trajectories and the set of confidence metrics, an uncertainty metric associated with the object representing a degree to which the object is behaving unpredictably;
and
controlling, based at least in part on the uncertainty metric, the autonomous vehicle.

6 more elements

One or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:

receiving, from a sensor associated with an autonomous vehicle, sensor data of an environment;
determining, based at least in part on the sensor data, a predicted trajectory associated with an object in the environment, the predicted trajectory associated with a confidence metric;
determining, based at least in part on the predicted trajectory and the confidence metric, an uncertainty metric associated with the object representing a degree to which the object is behaving unpredictably;
determining, based at least in part on the confidence metric, that the object is an uncertain object;
and
controlling, based at least in part on determining that the object is the uncertain object, the autonomous vehicle.

3 more elements

Dependencies are inferred from the claim text.

Object uncertainty detection

Life of this patent

Object uncertainty detection

Life of this patent

Abstract

Claims20