Method for generating prediction trajectories of obstacles for autonomous driving vehicles
US11378961B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 17, 2018 |
| Grant date | Jul 5, 2022 |
| Priority date | — |
| Expiry date | Jun 19, 2038 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2556/50
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
According to one embodiment, an obstacle is predicted to move from a starting point to an end point based on perception data perceiving a driving environment surrounding an ADV that is driving within a lane. A longitudinal movement trajectory from the starting point to the end point is generated in view of a shape of the lane. A lateral movement trajectory from the starting point to the end point is generated, including optimizing a shape of the lateral movement trajectory using a first polynomial function. The longitudinal movement trajectory and the lateral movement trajectory are then combined to form a final predicted trajectory that predicts how the obstacle is to move. A path is generated to control the ADV to move in view of the predicted trajectory of the obstacle, for example, to avoid the collision with the obstacle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.