A surround multi-object tracking and surround vehicle motion prediction framework is provided. A full-surround camera array and LiDAR sensor based approach provides for multi-object tracking for autonomous vehicles. The multi-object tracking incorporates a fusion scheme to handle object proposals from the different sensors within the calibrated camera array. A motion prediction framework leverages the instantaneous motion of vehicles, an understanding of motion patterns of freeway traffic, and the effect of inter-vehicle interactions. The motion prediction framework incorporates probabilistic modeling of surround vehicle trajectories. Additionally, subcategorizing trajectories based on maneuver classes leads to better modeling of motion patterns. A model takes into account interactions between surround vehicles for simultaneously predicting each of their motion.
SURROUND VEHICLE TRACKING AND MOTION PREDICTION
2021-02-25
Patent
Electronic Resource
English
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / 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 / G06K Erkennen von Daten , RECOGNITION OF DATA |