Systems and methods are provided for determining a trajectory of an actor in an environment in which a vehicle is operating. A vehicle detects an actor that may move within a scene of an environment of the vehicle. Some methods may use a context of a scene to determine a reference polyline for an actor and to determine a kinematic history of the actor. Kinematic history may be used to predict a waypoint, identify a segment extending from a current location to a point closest to the waypoint along a reference polyline, and determine a trajectory of an actor conditioned on the segment of the reference polyline. Other methods may include generating a contextual embedding of an actor kinematic history to generate a plurality of predicted trajectories of an actor, each trajectory corresponding to one of a plurality of reference polylines. Movement of the vehicle can then be planned using the predicted trajectory.

    提供了确定行动者在车辆操作的环境中的轨迹的系统和方法。车辆检测可以在车辆的环境的场景内移动的行动者。一些方法可以使用场景的上下文来确定用于行动者的参考多段线以及确定行动者的运动学历史。运动学历史可以被用于预测路点,识别从当前位置延伸到沿着参考多段线的最接近所述路点的点的片段,以及确定以参考多段线的所述片段为条件的行动者的轨迹。其他方法可以包括生成行动者运动学历史的上下文嵌入以生成行动者的多个预测的轨迹,每个轨迹与多个参考多段线之一对应。然后能够使用预测的轨迹来计划车辆的移动。


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    Title :

    Waypoint prediction and motion forecasting for vehicle motion planning


    Additional title:

    用于车辆运动计划的路点预测和运动预报


    Contributors:

    Publication date :

    2023-06-23


    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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