Embodiments is disclosed to detect a locked heading direction of a pedestrian and to predict a path for the pedestrian using the locked heading direction. According to one embodiment, a system perceives an environment of an autonomous driving vehicle (ADV) using one or more image capturing devices. The system detects a pedestrian in the perceived environment. The system determines a facing direction of the pedestrian relative to the ADV as one of left/right side, front, or back. If the facing direction of the pedestrian is determined to be front or back facing, the system determines a lane nearest to the pedestrian. The system projects the pedestrian onto the nearest lane to determine a lane direction at the projection. The system determines a heading direction for the pedestrian locking to the lane direction of the nearest lane based on a predetermined condition.
LOCKED PEDESTRIAN DETECTION AND PREDICTION FOR AUTONOMOUS VEHICLES
2021-12-09
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 / G06K Erkennen von Daten , RECOGNITION OF DATA / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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