Multi-scale driving environment prediction with hierarchical spatial temporal attention
AssigneeToyota Motor Engineering & Manufacturing North America, Inc.
InventorsXuewei Qi, Kentaro Oguchi, Yongkang Liu
Life of this patent
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Abstract
In accordance with one embodiment of the present disclosure, method includes obtaining multi-level environment data corresponding to a plurality of driving environment levels, encoding the multi-level environment data at each level, extracting features from the multi-level environment data at each encoded level, fusing the extracted features from each encoded level with a spatial-temporal attention framework to generate a fused information embedding, and decoding the fused information embedding to predict driving environment information at one or more driving environment levels.
Claims20
A method comprising:
- obtaining multi-level environment data corresponding to a plurality of driving environment levels;
- encoding the multi-level environment data at each level;
- extracting features from the multi-level environment data at each encoded level;
- fusing the extracted features from each encoded level with a spatial-temporal attention framework to generate a fused information embedding;
- and
- decoding the fused information embedding to predict driving environment information at one or more driving environment levels.
A system comprising:
- a controller programmed to perform operations comprising:
- obtaining multi-level environment data corresponding to a plurality of driving environment levels;
- encoding the multi-level environment data at each level;
- extracting features from the multi-level environment data at each encoded level;
- fusing the extracted features from each encoded level with a spatial-temporal attention framework to generate a fused information embedding;
- and
- decoding the fused information embedding to predict driving environment information at one or more driving environment levels.
A non-transitory medium having machine-readable instructions that cause a processor to perform operations comprising:
- obtaining multi-level environment data corresponding to a plurality of driving environment levels;
- encoding the multi-level environment data at each level;
- extracting features from the multi-level environment data at each encoded level;
- fusing the extracted features from each encoded level with a spatial-temporal attention framework to generate a fused information embedding;
- and
- decoding the fused information embedding to predict driving environment information at one or more driving environment levels.
Dependencies are inferred from the claim text.