US 2025/0026376 A1 · LAZY ACTOR AVOIDANCE

Abstract

Embodiments herein include an autonomy system of an automated vehicle performing operations for detecting and avoiding lazy or unpredictable vehicles on a roadway. The autonomy system generates bounding boxes for tracking traffic vehicles recognized in sensor data. For close vehicles, the autonomy system generates expanded bounding boxes. The autonomy system determines the close vehicle is an encroaching vehicle by detecting that the expanded bounding box of the close vehicle overlapped the middle lane line or enters into the automated vehicle's current lane of travel. The autonomy system may simulate the behavior of the close vehicle by forward-propagating predicted positions of the close vehicle and expanded bounding box over some future time. In response to detecting the encroaching vehicle, the autonomy system may determine whether to perform an avoidance action or select a particular avoidance action, such as biasing away from the encroaching vehicle.

Claims20

Dependent claims

A method for navigation planning for an automated vehicle, the method comprising:

identifying, by a processor of an automated vehicle, one or more traffic vehicles in image data obtained from one or more sensors of the automated vehicle;
for each traffic vehicle of the one or more traffic vehicles, generating, by the processor, a bounding box associated with the traffic vehicle in the image data;
identifying, by the processor, a close vehicle of the one or more traffic vehicles, the close vehicle identified within a first threshold distance from the automated vehicle;
generating, by the processor, an expanded bounding box associated with the close vehicle in the image data, the expanded bounding box having a comparatively larger size than the bounding box;
determining, by the processor, that the expanded bounding box of the close vehicle is within a second threshold distance from the automated vehicle, thereby detecting an encroaching vehicle as the close vehicle;
and
generating, by the processor, an avoidance instruction for operating the automated vehicle, in response to detecting the encroaching vehicle.

4 more elements

A system for navigation planning for an automated vehicle, the system comprising:

a non-transitory computer-readable memory on board an automated vehicle configured to store image data for a roadway associated with one or more traffic vehicles obtained from one or more sensors of the automated vehicle;
and
a processor of the automated vehicle configured to:
identify the one or more traffic vehicles in the image data obtained from the one or more sensors of the automated vehicle;
for each traffic vehicle of the one or more traffic vehicles, generate a bounding box associated with the traffic vehicle in the image data;
identify a close vehicle of the one or more traffic vehicles, the close vehicle identified within a first threshold distance from the automated vehicle;
generate an expanded bounding box associated with the close vehicle in the image data, the expanded bounding box having a comparatively larger size than the bounding box;
determine that the expanded bounding box of the close vehicle is within a second threshold distance from the automated vehicle, thereby detecting an encroaching vehicle as the close vehicle;
and
generate an avoidance instruction for operating the automated vehicle, in response to detecting the encroaching vehicle.

7 more elements

Dependencies are inferred from the claim text.

Lazy actor avoidance

Life of this patent

Lazy actor avoidance

Life of this patent

Abstract

Claims20