Surround vehicle tracking and motion prediction

US11906625B2 · kind B2 · utility

Assignee

• The Regents of the University of California · US

Inventors

• Akshay Rangesh · San Diego, US
• Mohan M. Trivedi · San Diego, US
• Nachiket Deo · San Diego, US

Key dates

• Filing date: Jan 8, 2019
• Grant date: Feb 20, 2024
• Expiry date: May 17, 2041

Classification

• Technology area (CPC G): Physics
• CPC primary: G06T2207/30261
• WIPO field: Computer technology
• WIPO sector: Electrical engineering

Abstract

A surround multi-object tracking and surround vehicle motion prediction framework is provided. A full-surround camera array and LiDAR sensor based approach provides for multi-object tracking for autonomous vehicles. The multi-object tracking incorporates a fusion scheme to handle object proposals from the different sensors within the calibrated camera array. A motion prediction framework leverages the instantaneous motion of vehicles, an understanding of motion patterns of freeway traffic, and the effect of inter-vehicle interactions. The motion prediction framework incorporates probabilistic modeling of surround vehicle trajectories. Additionally, subcategorizing trajectories based on maneuver classes leads to better modeling of motion patterns. A model takes into account interactions between surround vehicles for simultaneously predicting each of their motion.