Techniques are discussed for controlling a vehicle (404), such as an autonomous vehicle, based on predicted occluded areas (420, 422, 428, 430) in an environment. An occluded area (420, 422, 428, 430) can represent areas where sensors of the vehicle (404) are unable to sense portions of the environment due to obstruction by another object (406, 410). A first occluded region (420, 422) for an object is determined at a first time based on a location of the object. A predicted location for the object can be used to determine a predicted occluded region caused by the object (406, 410) at a second time after the first time. Predicted occluded regions can be determined for multiple trajectories (412, 414) for the vehicle (404) to follow and/or at multiple points along such trajectories (412, 414), and a trajectory (412, 414) can be selected based on associated occlusion scores and/or trajectory scores associated therewith. The vehicle (404) can be controlled to traverse the environment based on the selected trajectory (412, 414).

    所讨论的是基于环境中的预测遮挡区域(420、422、428、430)控制车辆(404)、例如自动驾驶车辆的技术。遮挡区域(420、422、428、430)可以代表车辆(404)的传感器由于被另一物体(406、410)遮挡而无法感知环境的部分的区域。基于物体的位置,在第一时间确定物体的第一遮挡区域(420、422)。物体的预测位置可用于在第一时间之后的第二时间确定由物体(406、410)引起的预测遮挡区域。可以为车辆(404)要遵循的多条轨迹(412、414)和/或沿这种轨迹(412、414)的多个点确定预测遮挡区域,并且可以基于与之相关的遮挡分数和/或轨迹分数来选择轨迹(412、414)。车辆(404)可以被控制为基于选定轨迹(412、414)穿越环境。


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    Title :

    OCCLUSION PREDICTION AND TRAJECTORY EVALUATION


    Additional title:

    遮挡预测和轨迹评估


    Contributors:

    Publication date :

    2021-10-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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