Determining vehicle trajectories based on object behaviors
AssigneeZoox, Inc.
InventorsAbishek Krishna Akella, Yousef Ali Emam, Gowtham Garimella, Anjali Lakshmi Pemmaraju
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Abstract
A trajectory associated with a vehicle may be determined based on determining that an object in the vehicle's environment is associated with a behavior of interest which may diverge from a nominal behavior otherwise associated with the object. Based on the divergence from anticipated nominal behavior, a region of the environment may be identified and used to determine a trajectory for control. The determined trajectory may be used to control a vehicle and/or inform the driving behavior of a vehicle.
Claims20
A system comprising:
- one or more processors;
- and
- one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the system to perform operations comprising:
- receiving sensor data associated with an environment of a vehicle;
- determining, based at least in part on the sensor data, a first state associated with an object in the environment, the first state being associated with at least one of a past time or a current time and representing at least one of a first position or a first orientation;
- receiving a predicted trajectory associated with the object, the predicted trajectory representing a second state associated with a future time and being associated with a trajectory weight, the second state representing at least one of a second position or a second orientation;
- determining, based at least in part on the first state, a first probability associated with the object performing a behavior of interest;
- determining, based at least in part on the second state and the trajectory weight, a second probability associated with the object performing the behavior of interest;
- determining, based at least in part on the first probability and the second probability, that the object is associated with the behavior of interest;
- determining, based at least in part on determining that the object is performing the behavior of interest, a region of the environment having a geometric feature;
- determining a trajectory based at least in part on the region;
- and
- controlling the vehicle based on the region.
One or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:
- determining, based at least in part on sensor data associated with an environment of a vehicle, a probability that an object in the environment is performing a behavior of interest;
- determining, based at least in part on determining that the object is performing the behavior of interest, a region of the environment having a geometric feature, wherein the geometric feature is determined based on the behavior of interest;
- determining, based at least in part on the region, a trajectory for controlling the vehicle;
- and
- controlling the vehicle based at least in part on the trajectory.
A method comprising:
- determining, based on sensor data associated with an environment of a vehicle, a probability that an object in the environment is performing a behavior of interest;
- determining, based on determining that the object is performing the behavior of interest, a region of the environment having a geometric feature, wherein the geometric feature is determined based on the behavior of interest;
- determining, based at least in part on the region, a trajectory for controlling the vehicle;
- and
- controlling the vehicle based at least in part on the trajectory.
Dependencies are inferred from the claim text.