Method for determining exiting intersection of moving objects for autonomous driving vehicles
US11136023B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 7, 2019 |
| Grant date | Oct 5, 2021 |
| Priority date | — |
| Expiry date | Nov 7, 2039 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2556/40
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A moving object such as a vehicle is identified within an intersection having multiple exits. The moving object and the intersection and its exits may be identified based on sensor data obtained from various sensors mounted on an ADV. An exit coordinate map is generated based on the orientation of the moving object and a relative position of each of the exits of the intersection with respect to the current position of the moving object. For each of the exits, an exit probability of the exit that the moving object likely exits the intersection using the exit coordinate map. Thereafter, a trajectory of the ADV is planned to navigate through the intersection to avoid the collision with the moving object based on the exit probabilities of the exits of the intersection. The above process is iteratively performed for each of the moving objects detected within the proximity of the intersection.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.