US 9,248,834 B1 · Predicting trajectories of objects based on contextual information

Abstract

Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.

Claims20

Dependent claims

A computer-implemented method comprising:

identifying, by one or more computing devices, an object in a vehicle's environment, the object having a heading and location;
generating, by the one or more computing devices, a set of possible actions for the object using map information describing the vehicle's environment and the heading and location of the object;
generating, by the one or more computing devices, a set of possible future trajectories of the object based on the set of possible actions;
receiving, by the one or more computing devices, contextual information including a status of the detected object;
determining, by the one or more computing devices, a likelihood value of each trajectory of the set of possible future trajectories based on the contextual information;
determining, by the one or more computing devices, a final future trajectory based on the determined likelihood value for each trajectory of the set of possible future trajectories;
and
maneuvering, by the one or more computing devices, the vehicle in order to avoid the final future trajectory and the object.

5 more elements

A system comprising one or more computing devices configured to:

identify an object in a vehicle's environment, the object having a heading and location;
generate a set of possible actions for the object using map information describing the vehicle's environment and the heading and location of the object;
generate a set of possible future trajectories of the object based on the set of possible actions;
receive contextual information including a status of the detected object;
determine a likelihood value of each trajectory of the set of possible future trajectories based on the contextual information;
determine a final future trajectory based on the determined likelihood value for each trajectory of the set of possible future trajectories;
and
maneuver the vehicle in order to avoid the final future trajectory and the object.

5 more elements

Dependencies are inferred from the claim text.

Predicting trajectories of objects based on contextual information

Life of this patent

Predicting trajectories of objects based on contextual information

Life of this patent

Abstract

Claims20