The invention provides a method and a system for predicting exiting intersection of moving obstacles. 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.

    提供一种用于预测移动障碍物驶出十字路口的方法及系统。识别在十字路口的附近的移动障碍物,诸如车辆,以及十字路口的一个或多个出口。确定在一段时间内移动障碍物的空间位置的障碍物状态演变。对于出口中的每个,基于出口的十字路口出口特征确定出口的十字路口出口编码。基于聚合用于出口的所有十字路口出口编码确定聚合的出口编码。对于出口中的每个,基于障碍物状态演变和聚合的出口编码,确定移动障碍物有可能通过出口驶出十字路口的出口的出口概率。然后,基于出口的出口概率规划ADV的轨迹以控制ADV以避免与移动障碍物碰撞。


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    Titel :

    METHOD AND SYSTEM FOR PREDICTING EXITING INTERSECTION OF MOVING OBSTACLES


    Weitere Titelangaben:

    用于预测移动障碍物驶出十字路口的方法及系统


    Beteiligte:
    PAN JIACHENG (Autor:in) / XU KECHENG (Autor:in) / SUN HONGYI (Autor:in) / MIAO JINGHAO (Autor:in)

    Erscheinungsdatum :

    2021-06-18


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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