Behavior prediction for railway agents for autonomous driving system
AssigneeWaymo LLC
InventorsVishu Goyal, Stéphane Ross, Kai Ding
Life of this patent
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Abstract
To operate an autonomous vehicle, a rail agent is detected in a vicinity of the autonomous vehicle using a detection system. One or more tracks are determined on which the detected rail agent is possibly traveling, and possible paths for the rail agent are predicted based on the determined one or more tracks. One or more motion paths are determined for one or more probable paths from the possible paths, and a likelihood for each of the one or more probable paths is determined based on each motion plan. A path for the autonomous vehicle is then determined based on a most probable path associated with a highest likelihood for the rail agent, and the autonomous vehicle is operated using the determined path.
Claims20
A system comprising one or more computing devices configured to:
- detect, using a detection system including one or more sensors, a rail agent in a vicinity of an autonomous vehicle, the rail agent being on a track having a geometry;
- determine a likelihood for each of one or more probable paths of the rail agent based on each of one or more motion plans of the one or more probable paths, wherein at least one of the one or more probable paths includes a path direction in which the rail agent will probably travel and at least one of the one or more motion plans;
- determine a path for the autonomous vehicle based on a most probable path for the rail agent;
- and
- operate the autonomous vehicle based, at least in part, upon the determined path.
A method comprising:
- detecting, by one or more computing devices using a detection system including one or more sensors, a rail agent in a vicinity of an autonomous vehicle, the rail agent being on a track having a geometry;
- determining, by the one or more computing devices, a likelihood for each of one or more probable paths of the rail agent based on each of one or more motion plans of the one or more probable paths, wherein at least one of the one or more probable paths includes a path direction in which the rail agent will probably travel and at least one of the one or more motion plans;
- determining, by the one or more computing devices, a path for the autonomous vehicle based on a most probable path for the rail agent;
- and
- operating, by the one or more computing devices, the autonomous vehicle based, at least in part, upon the determined path.
A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:
- detecting, using a detection system including one or more sensors, a rail agent in a vicinity of an autonomous vehicle, the rail agent being on a track having a geometry;
- determining a likelihood for each of one or more probable paths of the rail agent based on each of one or more motion plans of the one or more probable paths, wherein at least one of the one or more probable paths includes a path direction in which the rail agent will probably travel and at least one of the one or more motion plans;
- determining a path for the autonomous vehicle based on a most probable path for the rail agent;
- and
- operating the autonomous vehicle based, at least in part, upon the determined path.
Dependencies are inferred from the claim text.