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US 8,825,265 B1Granted
Approach for consolidating observed vehicle trajectories into a single representative trajectory
AssigneeGoogle Inc.
InventorsDavid I. Ferguson, Jiajun Zhu
Life of this patent
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Abstract
A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle's trajectories, the autonomous vehicle may generate a pool of combined trajectories. Subsequently, the autonomous vehicle may select one of the combined trajectories as a representative trajectory. The representative trajectory may be used to change at least one of the speed or direction of the autonomous vehicle.
Claims19
A method comprising:
- tracking a plurality of road vehicles to obtain a plurality of observed trajectories, each one of the plurality of observed trajectories including locations passed by a given road vehicle from the plurality of road vehicles;
- generating, by a processor, a plurality of trajectories, each one of the plurality of generated trajectories being generated using a different observed trajectory as a base, and each one of the plurality of generated trajectories being generated by:
- (i) selecting one of the plurality of observed trajectories as the base;
- (ii) combining the selected observed trajectory with remaining ones in the plurality of observed trajectories to generate a resultant set of locations;
- and
- (iii) combining the resultant set of locations with all observed trajectories in the plurality;
- selecting a first generated trajectory from the plurality of generated trajectories;
- and
- changing at least one of a speed of the given road vehicle and a direction of the given road vehicle based on the selected first generated trajectory.
6 more elements
A method comprising:
- determining a plurality of observed trajectories of road vehicles that are travelling on the same road as a first vehicle;
- determining a first location by combining locations found in two or more observed trajectories from the plurality of observed trajectories;
- selecting a second location that is part of an observed trajectory from the plurality of observed trajectories;
- calculating, by a processor, a third location based on the first location and the second location, the third location being located between the first location and the second location;
- and
- controlling, by the processor, the operation of the first vehicle based on the third location.
3 more elements
An apparatus comprising:
- a processor configured to:
- track a plurality of road vehicles to obtain a plurality of observed trajectories, wherein each observed trajectory is associated with a tracked vehicle and each of the observed trajectories correspond to a plurality of locations;
- execute a process including an initial iteration that is executed first and a final iteration that is executed last, wherein:
- (i) the initial iteration generates a resultant set of locations based on the plurality of locations from the observed trajectories, and
- (ii) each subsequent iteration after the initial iteration generates another resultant set of locations based on the resultant set of locations that is generated during a preceding iteration, and
- change at least one of a speed of a following vehicle and a direction of the following vehicle based on one or more locations that are part of the another resultant set generated by the final iteration.
3 more elements
Dependencies are inferred from the claim text.