Lane-attention: predicting vehicles' moving trajectories by learning their attention over lanes
US11860634B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 12, 2019 |
| Grant date | Jan 2, 2024 |
| Priority date | — |
| Expiry date | Aug 17, 2040 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2554/4045
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
An obstacle state evolution of a spatial position of a moving obstacle over a period of time is determined. A lane-obstacle relation evolution of the moving obstacle with each of one or more lanes near the moving obstacle over the period of time is further determined. An intended movement of the moving obstacle is predicted based on the obstacle state evolution and the lane-obstacle evolution. Thereafter, a trajectory of the ADV is planned to control the ADV to avoid a collision with the moving obstacle based on the predicted intended movement of the moving obstacle. The above process is iteratively performed for each of the moving obstacles detected within a predetermined proximity of the ADV.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.