Systems/methods for controlling an Autonomous Vehicle (“AV”). The methods comprise: generating LiDAR datasets measuring a distance from AV to an object at different times; plotting each LiDAR dataset on a 3D graph; defining an amodal cuboid on each 3D graph; selecting different positions for amodal cuboid in 3D graphs; determining coordinates for an amodal cuboid center point at different positions within 3D graphs; using Center Point Coordinates (“CPCs”) to compute velocity and acceleration values for the object at each time; using CPCs to compute Single Frame Score (“SFS”) values; using velocity values, acceleration values and SFS values to compute scores for different cuboid positions in 3D graphs; using the scores as inputs to a Viterbi algorithm for determining a most likely sequence of states for the object given the LiDAR datasets; and using the most likely sequence of states for the object by AV to facilitate autonomous driving operation(s).
SYSTEMS AND METHODS FOR CONTROLLING VEHICLES USING AN AMODAL CUBOID BASED ALGORITHM
2021-11-11
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 / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung / G06K Erkennen von Daten , RECOGNITION OF DATA |
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