Method, apparatus and program of predicting obstacle course
First Claim
1. An obstacle course prediction method, in which a computer predicts a course of an obstacle, the method comprising:
- detecting, by a detector mounted on a vehicle, at least a plurality of positions and internal states of obstacles present within a predetermined area relative to the vehicle;
extracting a plurality of obstacles within the predetermined area based on the detected positions and internal states of obstacles within the predetermined area;
storing, in a non-transitory computer readable memory, at least the plurality of positions and internal states of the obstacles present within the predetermined area relative to the vehicle;
selecting a first obstacle from the plurality of obstacles;
calculating a probability of a plurality of first courses that the first obstacle may take, based on a position and an internal state of the first obstacle read from the memory;
selecting a second obstacle from the plurality of obstacles, the second obstacle being different from the first obstacle;
predicting a second course that the second obstacle may take, based on a position and an internal state of the second obstacle read from the memory;
determining whether or not each course in the plurality of first courses interferes with the second course;
in response to a determination of interference for a respective course in the plurality of first courses, lowering the probability of the respective course and modifying the probability of the plurality of first courses;
generating an operation signal based on the modified probability of the plurality of first courses; and
transmitting the operation signal to an actuator device provided in the vehicle.
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Accused Products
Abstract
A method, an apparatus, and a program of predicting an obstacle course, capable of appropriately predicting a course of an obstacle even under a complicated traffic environment, are provided. For this purpose, the course, which the obstacle may take, is predicted based on the position and the internal state of the obstacle, and at the time of the prediction, a plurality of courses are probabilistically predicted for at least one obstacle. When there are a plurality of obstacles, the course in which different obstacles interfere with each other is obtained from the predicted courses, which a plurality of obstacles may take, and the predictive probability of the course for which the probabilistic prediction is performed from the courses in which they interfere with each other is lowered. Probability of realizing each of a plurality of courses including the course of which predicted probability is lowered is calculated.
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Citations
8 Claims
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1. An obstacle course prediction method, in which a computer predicts a course of an obstacle, the method comprising:
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detecting, by a detector mounted on a vehicle, at least a plurality of positions and internal states of obstacles present within a predetermined area relative to the vehicle; extracting a plurality of obstacles within the predetermined area based on the detected positions and internal states of obstacles within the predetermined area; storing, in a non-transitory computer readable memory, at least the plurality of positions and internal states of the obstacles present within the predetermined area relative to the vehicle; selecting a first obstacle from the plurality of obstacles; calculating a probability of a plurality of first courses that the first obstacle may take, based on a position and an internal state of the first obstacle read from the memory; selecting a second obstacle from the plurality of obstacles, the second obstacle being different from the first obstacle; predicting a second course that the second obstacle may take, based on a position and an internal state of the second obstacle read from the memory; determining whether or not each course in the plurality of first courses interferes with the second course; in response to a determination of interference for a respective course in the plurality of first courses, lowering the probability of the respective course and modifying the probability of the plurality of first courses; generating an operation signal based on the modified probability of the plurality of first courses; and transmitting the operation signal to an actuator device provided in the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification