World objects tracking and prediction by an autonomous vehicle (AV) is disclosed. A method includes identifying, based on first observation data received from sensors of the AV, an oncoming vehicle; identifying, based on second observation data received from the sensors of the AV, a road object; generating a lane-following hypothesis for the oncoming vehicle, the lane-following hypothesis indicating an intention that the oncoming vehicle remain in a current road lane; computing a lane-following reference driveline for the lane-following hypothesis of the oncoming vehicle; in response to determining that the lane-following reference driveline is blocked by the road object, generating a go-around hypothesis for the oncoming vehicle, and computing a go-around reference driveline for the go-around hypothesis; and providing at least one of a go-around trajectory corresponding to the go-around hypothesis or a lane-following trajectory corresponding to the lane-following hypothesis.
Predicting behaviors of oncoming vehicles
2020-02-25
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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06K Erkennen von Daten , RECOGNITION OF DATA / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
OCCLUDED ONCOMING VEHICLES DETECTION SYSTEMS AND METHODS
European Patent Office | 2023
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