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.
WAYPOINT PREDICTION AND MOTION FORECASTING FOR VEHICLE MOTION PLANNING
WEGPUNKTVORHERSAGE UND BEWEGUNGSVORHERSAGE ZUR FAHRZEUGBEWEGUNGSPLANUNG
PRÉDICTION DE POINT DE CHEMINEMENT ET PRÉVISION DE DÉPLACEMENT POUR PLANIFICATION DE DÉPLACEMENT DE VÉHICULE
2024-08-07
Patent
Elektronische Ressource
Englisch
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06V |
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