# US 2021/0276572 A1 · Method and Apparatus for Determining Vehicle Speed > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0276572 A1 - Document ID: US20210276572A1 - Status: Published application - Kind: A1 - Application number: 17/322,388 - Filed: 2021-05-17 - Published: 2021-09-09 - Earliest claimed: 2019-07-17 - Assignees: Huawei Technologies Co., Ltd. - Applicants: Huawei Technologies Co., Ltd. - Inventors: Mingbo Du; Yongxiang Tao - Web page: https://patentgrep.com/patent/US20210276572A1 ## CPC - B60W 40/105: Speed - B60W 60/00276: {for two or more other traffic participants} - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - B60W 40/04: Traffic conditions - B60W 60/00274: {considering possible movement changes} - G06F 18/295: {Markov models or related models, e.g. semi-Markov models; Markov random fields; Networks embedding Markov models} - G06V 10/85: {Markov-related models; Markov random fields} - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/4029: Pedestrians - B60W 2554/4041: Position - B60W 2554/4045: Intention, e.g. lane change or imminent movement - B60W 2720/10: Longitudinal speed - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A method and an apparatus for determining a vehicle speed computing a probability distribution of action intentions based on observation information of a surrounding object. Then, a probability redistribution of the different action intentions is computed based on travel times for the vehicle to travel from a current position to risk areas corresponding to the different action intentions, motion status variations of the surrounding object with the different action intentions are predicted based on the travel times for the vehicle to travel to the risk areas corresponding to the different action intentions. Finally, the travelling speed of the vehicle is determined based on the probability redistribution of the different action intentions, the motion status variations of the surrounding object with the different action intentions, and motion status variations of the vehicle under different travelling speed control actions. ## Claims ### Claim 1 A method for determining a vehicle speed, comprising: obtaining first observation information of a surrounding object of a vehicle; computing, based on the first observation information, a probability distribution of different action intentions of the surrounding object; performing a redistribution computation on the probability distribution based on travel times required for the vehicle to travel from a current position of the vehicle to risk areas corresponding to the different action intentions to obtain a probability redistribution of the different action intentions, wherein the risk areas are in a lane in which the vehicle travels and located proximate to the surrounding object; predicting first motion status variations of the surrounding object based on the travel times; and determining a travelling speed of the vehicle based on the probability redistribution, the different action intentions, the first motion status variations, and second motion status variations of the vehicle under different travelling speed control actions. ### Claim 2 (depends on 1) The method of claim 1, further comprising: establishing a coordinate system related to the lane; establishing, based on the first observation information and the coordinate system, a relative position relationship between the surrounding object and the lane and a relative motion relationship between the surrounding object and the lane; and further computing the probability distribution based on the relative position relationship and the relative motion relationship. ### Claim 3 (depends on 1) The method of claim 1, further comprising: obtaining second observation information of the vehicle; establishing a coordinate system related to the lane; establishing, based on the second observation information, the first observation information, and the coordinate system, a first relative position relationship between the vehicle and the lane, a first relative motion status between the vehicle and the lane, a second relative position relationship between the surrounding object and the lane, and a second relative motion status between the surrounding object and the lane; determining, based on the second relative position relationship and the second relative motion status, the risk areas; and computing, based on the first relative position relationship, the first relative motion status, and the risk areas, the travel times. ### Claim 4 (depends on 1) The method of claim 1, further comprising: performing a particle processing on the probability distribution, wherein quantities of particles corresponding to the different action intentions represent the probability distribution; and adjusting, based on the travel times, weights of the particles to obtain the probability redistribution. ### Claim 5 (depends on 1) The method of claim 1, further comprising: determining, based on the travel times, probabilities that the surrounding object with the different action intentions changes an action intention; and further predicting the first motion status variations based on the probabilities and a random probability. ### Claim 6 (depends on 1) The method of claim 1, further comprising: estimating travelling effects of the vehicle under the different travelling speed control actions based on the probability redistribution, the different action intentions, the first motion status variations, and the second motion status variations; selecting a target travelling speed control action from the different travelling speed control actions based on the travelling effects; and further determining the travelling speed based on the target travelling speed control action. ### Claim 7 (depends on 1) The method of claim 1, wherein when there are at least two surrounding objects, the different action intentions comprise a combination of intentions corresponding to each of the at least two surrounding objects. ### Claim 8 An apparatus for determining a vehicle speed comprising: a memory configured to store programming instructions; and a processor coupled to the memory, wherein the programming instructions cause the processor to be configured to: obtain first observation information of a surrounding object of a vehicle; compute, based on the first observation information, a probability distribution of different action intentions of the surrounding object; perform a redistribution computation on the probability distribution based on travel times for the vehicle to travel from a current position of the vehicle to risk areas corresponding to the different action intentions to obtain a probability redistribution of the different action intentions, wherein the risk areas are in a lane in which the vehicle travels and located proximate to the surrounding object; predict first motion status variations of the surrounding object based on the travel times; and determine a travelling speed of the vehicle based on the probability redistribution, the different action intentions, the first motion status variations, and second motion status variations of the vehicle under different travelling speed control actions. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the programming instructions further cause the processor to be configured to: establish a coordinate system related to the lane; establish, based on the first observation information and the coordinate system, a relative position relationship between the surrounding object and the lane and a relative motion relationship between the surrounding object and the lane; and further compute the probability distribution based on the relative position relationship and the relative motion relationship. ### Claim 10 (depends on 8) The apparatus of claim 8, wherein the programming instructions further cause the processor to be configured to: obtain second observation information of the vehicle; establish a coordinate system related to the lane; establish, based on the lane in which the vehicle travels, the second observation information, the first observation information, and the coordinate system, a first relative position relationship between the vehicle and the lane, a first relative motion status between the vehicle and the lane, a second relative position relationship between the surrounding object and the lane, and a second relative motion status between the surrounding object and the lane; determine, based on the second relative position relationship and the second relative motion status, the risk areas; and compute, based on the first relative position relationship, the first relative motion status, and the risk areas, the travel times. ### Claim 11 (depends on 8) The apparatus of claim 8, wherein the programming instructions further cause the processor to be configured to: perform a particle processing on the probability distribution, wherein quantities of particles corresponding to the different action intentions represent the probability distribution; and adjust, based on the travel times, weights of the particles to obtain the probability redistribution. ### Claim 12 (depends on 8) The apparatus of claim 8, wherein the programming instructions further cause the processor to be configured to: determine, based on the travel times, probabilities that the surrounding object with the different action intentions changes an action intention; and further predict the first motion status variations based on the probabilities and a random probability. ### Claim 13 (depends on 8) The apparatus of claim 8, wherein the programming instructions further cause the processor to be configured to: estimate travelling effects of the vehicle under the different travelling speed control actions based on the probability redistribution, the different action intentions, the first motion status variations, and the second motion status variations; select a target travelling speed control action from the different travelling speed control actions based on the travelling effects; and determine the travelling speed based on the target travelling speed control action. ### Claim 14 (depends on 8) The apparatus of claim 8, wherein when there are at least two surrounding objects, the different action intentions comprise a combination of intentions corresponding to each of the at least two surrounding objects. ### Claim 15 A computer program product comprising computer-executable instructions stored on a non-transitory computer readable storage medium that, when executed by a processor, cause an apparatus to: obtain first observation information of a surrounding object of a vehicle; compute, based on the first observation information, a probability distribution of different action intentions of the surrounding object; perform a redistribution computation on the probability distribution based on travel times required for the vehicle to travel from a current position of the vehicle to risk areas corresponding to the different action intentions to obtain a probability redistribution of the different action intentions, wherein the risk areas are in a lane in which the vehicle travels and located proximate to the surrounding object; predict first motion status variations of the surrounding object based on the travel times; and determine a travelling speed of the vehicle based on the probability redistribution, the different action intentions, the first motion status variations, and second motion status variations of the vehicle under different travelling speed control actions. ### Claim 16 (depends on 15) The computer program product of claim 15, wherein the computer-executable instructions further cause the apparatus to: establish a coordinate system related to the lane; establish, based on the first observation information and the coordinate system, a relative position relationship between the surrounding object and the lane and a relative motion relationship between the surrounding object and the lane; and further compute the probability distribution based on the relative position relationship and the relative motion relationship. ### Claim 17 (depends on 15) The computer program product of claim 15, wherein the computer-executable instructions further cause the apparatus to: obtain second observation information of the vehicle; establish a coordinate system related to the lane; establish, based on the second observation information, the first observation information, and the coordinate system, a first relative position relationship between the vehicle and the lane, a first relative motion status between the vehicle and the lane, a second relative position relationship between the surrounding object and the lane, and a second relative motion status between the surrounding object and the lane; determine, based on the second relative position relationship and the second relative motion status, the risk areas; and compute, based on the first relative position relationship, the first relative motion status, and the risk areas, the travel times. ### Claim 18 (depends on 15) The computer program product of claim 15, wherein the computer-executable instructions further cause the apparatus to: perform a particle processing on the probability distribution, wherein quantities of particles corresponding to the different action intentions represent the probability distribution of the different action intentions; and adjust, based on the travel times, weights of the particles corresponding to the different action intentions to obtain the probability redistribution. ### Claim 19 (depends on 15) The computer program product of claim 15, wherein the computer-executable instructions further cause the apparatus to: determine, based on the travel times, probabilities that the surrounding object with the different action intentions changes an action intention; and further predict the first motion status variations based on the probabilities and a random probability. ### Claim 20 (depends on 15) The computer program product of claim 15, wherein the computer-executable instructions further cause the apparatus to: estimate travelling effects of the vehicle under the different travelling speed control actions based on the probability redistribution, the first motion status variations, and the second motion status variations; select a target travelling speed control action from the different travelling speed control actions based on the travelling effects; and further determine the travelling speed based on the target travelling speed control action.