System and method for predicting behaviors of detected objects through environment representation
AssigneeGoogle Inc.
InventorsJiajun Zhu, David I. Ferguson
Life of this patent
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Abstract
Aspects of the invention relate generally to autonomous vehicles. The features described improve the safety, use, driver experience, and performance of these vehicles by performing a behavior analysis on mobile objects in the vicinity of an autonomous vehicle. Specifically, the autonomous vehicle is capable of detecting nearby objects, such as vehicles and pedestrians, and is able to determine how the detected vehicles and pedestrians perceive their surroundings. The autonomous vehicle may then use this information to safely maneuver around all nearby objects.
Claims16
A method for autonomous control of a vehicle, the method comprising:
- detecting a plurality of mobile objects external to a vehicle using one or more sensors of the vehicle;
- selecting, by one or more processors, a first object from the plurality of mobile objects corresponding to a second vehicle in order to determine a likely behavior of the first object;
- determining, by the one or more processors, a position and movement of the plurality of mobile objects relative to a perspective of the first object;
- determining, by the one or more processors, a likely future behavior of the first object by determining how the vehicle would behave if the vehicle were placed in the position of the first object given the position and movement of the plurality of mobile objects relative to the perspective of the first object;
- and
- autonomously controlling, by the one or more processors, the vehicle relative to the first object based on the determined likely future behavior of the first object.
A method for autonomous navigation, the method comprising:
- detecting a plurality of mobile objects external to a vehicle using one or more sensors;
- classifying, by one or more processors, each of the plurality of mobile objects with one or more classifications;
- determining, by the one or more processors, a current position and movement of the plurality of mobile objects from a perspective of each mobile object of the plurality of mobile objects;
- determining, by the one or more processors, a likely future behavior for each mobile object by determining how the vehicle would behave if the vehicle were placed in the position of the each mobile object of the plurality of mobile objects;
- autonomously navigating, by the one or more processors, the vehicle based on the determined likely future behaviors of the plurality of mobile objects.
A system for controlling a vehicle having an autonomous operation mode, the system comprising:
- one or more sensors for detecting a plurality of mobile objects in a vehicle's surroundings, the one or more sensors being attached to the vehicle;
- a one or more memories storing control strategy data relating to operation of the vehicle in accordance with one or more control strategies;
- and
- a one or more processors in communication with the one or more sensors and the one or more memories, the one or more processors being configured to:
- control operation of the vehicle in accordance with a first control strategy;
- select a first object corresponding to a second vehicle from the plurality of mobile objects;
- determine a position and movement of the plurality of mobile objects with respect to a perspective of the first object;
- determine a likely future behavior of the first object by determining how the vehicle would behave if the vehicle were placed in the position of the first object given the determined position and movement of the plurality of mobile objects with respect to the perspective of the first object;
- and
- control operation of the vehicle in accordance with a second control strategy, wherein the second control strategy is based on the determined likely future behavior of the first object.
Dependencies are inferred from the claim text.