Using Wheel Orientation To Determine Future Heading
AssigneeWaymo LLC
InventorJens-Steffen Ralf Gutmann
Life of this patent
Estimating the term…
Abstract
The technology relates to determining a future heading of an object. In order to do so, sensor data, including information identifying a bounding box representing an object in a vehicle's environment and locations of sensor data points corresponding to the object, may be received. Based on dimensions of the bounding box, an area corresponding to a wheel of the object may be identified. An orientation of the wheel may then be estimated based on the sensor data points having locations within the area. The estimation may then be used to determine a future heading of the object.
Claims20
A method of determining a future heading of an object, the method comprising:
- receiving, by one or more processors, sensor data including information identifying an object in a vehicle's environment and sensor data points corresponding to the object;
- identifying, by the one or more processors, an area corresponding to an expected location of a wheel of the object using a model of wheel locations;
- determining, by the one or more processors, a heading of the object based on the sensor data points of the sensor data that are within the area.
A method of determining a future heading of an object, the method comprising:
- receiving, by one or more processors, sensor data including information identifying an object in a vehicle's environment and sensor data points corresponding to the object;
- identifying, by the one or more processors, an area corresponding to an expected location of a wheel of the object using a model of wheel locations;
- predicting, by the one or more processors, that the object is going to change lanes based on the sensor data points of the sensor data that are within the area.
Dependencies are inferred from the claim text.