A moving object such as a vehicle is identified within an intersection having multiple exits. The moving object and the intersection and its exits may be identified based on sensor data obtained from various sensors mounted on an ADV. An exit coordinate map is generated based on the orientation of the moving object and a relative position of each of the exits of the intersection with respect to the current position of the moving object. For each of the exits, an exit probability of the exit that the moving object likely exits the intersection using the exit coordinate map. Thereafter, a trajectory of the ADV is planned to navigate through the intersection to avoid the collision with the moving object based on the exit probabilities of the exits of the intersection. The above process is iteratively performed for each of the moving objects detected within the proximity of the intersection.
METHOD FOR DETERMINING EXITING INTERSECTION OF MOVING OBJECTS FOR AUTONOMOUS DRIVING VEHICLES
2020-11-12
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 |
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