Autonomous vehicle planning and prediction
AssigneeFive AI Limited
InventorsSubramanian Ramamoorthy, Simon Lyons, Svetlin Valentinov Penkov, Morris Antonello
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Abstract
A computer-implemented method of predicting an external actor trajectory comprises receiving, at a computer, sensor inputs for detecting and tracking an external actor; applying object tracking to the sensor inputs, in order track the external actor, and thereby determine an observed trace of the external actor over a time interval; determining a set of available goals for the external actor; for each of the available goals, determining an expected trajectory model; and comparing the observed trace of the external actor with the expected trajectory model for each of the available goals, to determine a likelihood of that goal.
Claims15
A computer-implemented method of probabilistically predicting a target location of an external actor, the method comprising:
- receiving, at a computer, sensor inputs for detecting and tracking the external actor;
- applying object tracking to the sensor inputs, in order to track the external actor, and thereby determine an observed trace of the external actor over a time interval from a first time to a third time;
- determining based on a map a set of available target locations for the external actor;
- for each target location of the set of available target locations, generating a respective first trajectory model over said time interval from the first time to the third time, based on a location of the external actor at the first time, and the respective target location on the map, wherein each first trajectory model includes one or more first trajectories from the location of the external actor at the first time to the respective target location;
- for each target location, determining, a likelihood that the external actor is attempting to reach the respective target location based on (1) the first trajectory model for the respective target location and (2) an observed trace of the external actor between the first time and a second time, wherein the second time is between the first time and the third time;
- and
- generating one or more control signals based on the determined likelihood, and providing the one or more control signals to a drive mechanism of an autonomous vehicle.
A computer system for probabilistically predicting a target location of an external actor, the computer system comprising:
- one or more processors;
- and
- memory coupled to the one or more processors, the memory embodying computer-readable instructions, which, when executed on the one or more processors, cause the one or more processors to perform operations including:
- receiving sensor inputs for detecting and tracking the external actor;
- applying object tracking to the sensor inputs, in order to track the external actor, and thereby determine an observed trace of the external actor over a time interval from a first time to a third time;
- determining based on a map a set of available target locations for the external actor;
- for each target location of the set of available target locations, generating a respective first trajectory model over said time interval from the first time to the third time, based on a location of the external actor at the first time, and the respective target location on the map, wherein each first trajectory model includes one or more first trajectories from the location of the external actor at the first time to the respective target location;
- for each target location, determining a likelihood that the external actor is attempting to reach the respective target location based on (1) the first trajectory model for the respective target location and (2) an observed trace of the external actor between the first time and a second time, wherein the second time is between the first time and the third time;
- and
- generating one or more control signals based on the determined likelihood, and providing the one or more control signals to a drive mechanism of an autonomous vehicle.
A non-transitory computer readable medium embodying computer program instructions, the computer program instructions configured so as, when executed on one or more hardware processors, to implement operations comprising:
- receiving, at a computer, sensor inputs for detecting and tracking an external actor;
- applying object tracking to the sensor inputs, in order to track the external actor, and thereby determine an observed trace of the external actor over a time interval from a first time to a third time;
- determining based on a map a set of available target locations for the external actor;
- for each target location of the set of available target locations, generating a respective first trajectory model over said time interval from the first time to the third time, based on a location of the external actor at the first time, and the respective target location on the map;
- for each target location, determining a likelihood that the external actor is attempting to reach the respective target location based on (1) the first trajectory model for the respective target location and (2) an observed trace of the external actor between the first time and a second time, wherein the second time is between the first time and the third time;
- and
- generating one or more control signals based on the determined likelihood, and providing the one or more control signals to a drive mechanism of an autonomous vehicle.
Dependencies are inferred from the claim text.