Waypoint prediction for vehicle motion planning
US11794731B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | May 5, 2021 |
| Grant date | Oct 24, 2023 |
| Priority date | — |
| Expiry date | Oct 21, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06V2201/07
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
Systems and methods of determining trajectories of an actor in an environment in which a vehicle is operating are provided. The method includes, by an object detection system of a vehicle in an environment, detecting an actor that may move within a scene in the environment. The method further includes using context of the scene to determine a reference polyline for the actor and determining a kinematic history of the actor. The method additionally includes using the kinematic history to predict a waypoint, which is a predicted position of the actor at a conclusion of a waypoint time period, and identifying a segment of the reference polyline, the segment extending from a current location to a point along the reference polyline that is closest to the waypoint and determining a trajectory for the actor conditioned by the segment of the reference polyline.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.