Aspects of the disclosure provide for controlling a vehicle in an autonomous driving mode. For instance, sensor data for an object as well as a plurality of predicted trajectories may be received. Each predicted trajectory may represent a plurality of possible future locations for the object. A grid including a plurality of cells, each being associated with a geographic area, may be generated. Probabilities that the object will enter the geographic area associated with each of the plurality of cells over a period of time into the future may be determined based on the sensor data in order to generate a heat map. One or more of the plurality of predicted trajectories may be compared to the heat map. The vehicle may be controlled in the autonomous driving mode based on the comparison.
VERIFYING PREDICTED TRAJECTORIES USING A GRID-BASED APPROACH
VERIFIZIERUNG VORHERGESAGTER TRAJEKTORIEN MIT EINEM RASTERBASIERTEN ANSATZ
VÉRIFICATION DE TRAJECTOIRES PRÉDITES À L'AIDE D'UNE APPROCHE BASÉE SUR UNE GRILLE
2022-07-06
Patent
Electronic Resource
English
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 |
VERIFYING PREDICTED TRAJECTORIES USING A GRID-BASED APPROACH
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