US 2026/0062018 A1 · TRACKING MULTI-DIMENSIONAL PATH GEOMETRY FOR AUTONOMOUS SYSTEMS AND APPLICATIONS

Abstract

In various examples, geometries associated with one or more paths in an environment may be efficiently tracked and/or predicted using recursive models. For instance, the disclosed systems and methods may use Kalman filters to track and predict control points corresponding to Bezier curves (e.g., 2D and/or 3D Bezier curves). The Bezier curves may be representative of geometries associated with one or more lanes of a driving surface. In some instances, multiple Bezier curves may be used to represent a geometry of a lane, and multiple Kalman filters may be used to track and predict control points for each Bezier curve. For instance, an edge of the lane may be represented using a first Bezier curve, and control points for the first Bezier curve may be tracked and predicted using multiple Kalman filters (e.g., for a 3D Bezier curve, one Kalman filter for each x, y, or z dimension).

Claims20

Dependent claims

A method comprising:

determining one or more first state vectors associated with one or more first Kalman filters, the one or more first state vectors including one or more first values corresponding to one or more first Bezier representations associated with one or more first portions of one or more paths;
determining one or more second state vectors associated with one or more second Kalman filters, the one or more second state vectors including one or more second values corresponding to one or more second Bezier representations associated with one or more second portions of the one or more paths;
computing one or more geometries associated with the one or more paths based at least on the one or more first state vectors, the one or more second state vectors, and data indicating at least a relative motion associated with a machine;
and
causing the machine to perform one or more operations based at least on the one or more geometries associated with the one or more paths.

2 more elements

At least one processor comprising:

processing circuitry to perform one or more operations associated with a machine based at least on one or more curves associated with one or more portions of one or more paths in an environment, wherein the one or more curves are determined using one or more Kalman filters to at least one of track or predict one or more three-dimensional (3D) control coordinates corresponding to the one or more curves.

Dependencies are inferred from the claim text.

Tracking multi-dimensional path geometry for autonomous systems and applications

Life of this patent

Tracking multi-dimensional path geometry for autonomous systems and applications

Life of this patent

Abstract

Claims20