Systems and methods of determining trajectories of an actor in an environment in which a vehicle is operating are provided. The method includes detecting an actor that may move within a scene in the environment by an object detection system of a vehicle in the environment, determining a kinematic history of the actor, and using context of the scene and the kinematic history of the actor to determine a plurality of reference polylines for the actor. The method further includes generating a contextual embedding of the kinematic history of the actor to generate a plurality of predicted trajectories of the actor, in which the generating conditions each of the predicted trajectories to correspond to one of the reference polylines. The method additionally includes using, by the vehicle, the plurality of predicted trajectories to plan movement of the vehicle.
PATH-CONDITIONED MOTION FORECASTING FOR VEHICLE MOTION PLANNING
2022-02-17
Patent
Electronic Resource
English
WAYPOINT PREDICTION AND MOTION FORECASTING FOR VEHICLE MOTION PLANNING
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