Parked car classification based on a velocity estimation

An apparatus for controlling an ego vehicle in an environment the apparatus comprising:

• at least one processor;
• and
• at least one memory coupled with the at least one processor and storing instructions operable, when executed by the at least one processor, to cause the apparatus:
• to determine, via a flow model of a parked vehicle recognition system, a flow between a first representation of the environment and a second representation of the environment, the first representation and the second representation being captured by one or more sensors associated with the ego vehicle;
• to determine, via a velocity model of the parked vehicle recognition system, a velocity of a vehicle in the environment based on the flow;
• to determine, via a parked vehicle classification model of the parked vehicle recognition system, the vehicle is parked based on the velocity of the vehicle and one or more of features associated with the vehicle and/or the environment, the one or more features being extracted from one or both of the first representation or the second representation of the environment via a feature extractor associated with the parked vehicle classification model;
• to plan a trajectory of the ego vehicle based on determining the vehicle is parked;
• and
• to control the ego vehicle to follow the trajectory based on the environment.

A non-transitory computer-readable medium having program code recorded thereon for controlling an ego vehicle in an environment the program code executed by at least one processor and comprising:

• program code to determine, via a flow model of a parked vehicle recognition system, a flow between a first representation of the environment and a second representation of the environment, the first representation and the second representation being captured by one or more sensors associated with the ego vehicle;
• program code to determine, via a velocity model of the parked vehicle recognition system, a velocity of a vehicle in the environment based on the flow;
• program code to determine, via a parked vehicle classification model of the parked vehicle recognition system, the vehicle is parked based on the velocity of the vehicle and one or more of features associated with the vehicle and/or the environment, the one or more features being extracted from one or both of the first representation or the second representation of the environment via a feature extractor associated with the parked vehicle classification model;
• program code to plan a trajectory of the ego vehicle based on determining the vehicle is parked;
• and
• program code to control the ego vehicle to follow the trajectory based on the environment.