Method for predicting exiting intersection of moving obstacles for autonomous driving vehicles
US11372417B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 12, 2019 |
| Grant date | Jun 28, 2022 |
| Priority date | — |
| Expiry date | Aug 26, 2040 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06N3/048
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A moving obstacle such as a vehicle within a proximity of an intersection and one or more exits of the intersection are identified. An obstacle state evolution of a spatial position of the moving obstacle over a period of time is determined. For each of the exits, an intersection exit encoding of the exit is determined based on intersection exit features of the exit. An aggregated exit encoding based on aggregating all of the intersection exit encodings for the exits is determined. For each of the exits, an exit probability of the exit that the moving obstacle likely exits the intersection through the exit is determined based on the obstacle state evolution and the aggregated exit encoding. Thereafter, a trajectory of the ADV is planned to control the ADV to avoid a collision with the moving obstacle based on the exit probabilities of the exits.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.