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Object path prediction method, apparatus, and program, and automatic operation system

  • US 10,102,750 B2
  • Filed: 06/23/2014
  • Issued: 10/16/2018
  • Est. Priority Date: 02/28/2006
  • Status: Active Grant
First Claim
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1. An automatic operation system mounted on a vehicle, the automatic operation system comprising:

  • (i) a computer including a central processing unit (CPU), wherein the computer is configured to;

    detect positions and internal states of a plurality of objects based on an output of a sensor mounted on the vehicle,predict a plurality of trajectories, indicating time changes and corresponding position changes, for the vehicle and for each of the plurality of objects individually, based on the detected positions and internal states of the plurality of objects, the plurality of trajectories of the vehicle extending simultaneously over a given time period and the plurality of trajectories of each of the plurality of objects extending simultaneously over the given time period,calculate, for each of the plurality of objects, a probability of each of the predicted plurality of trajectories of each of the plurality of objects,calculate an interference level between each of the plurality of predicted trajectories of the vehicle and the predicted trajectories of each of the plurality of objects individually, based on the predicted trajectories of the vehicle, the predicted trajectories of the objects, and the calculated probability of each of the predicted plurality of trajectories of each of the plurality of objects, the interference level representing an extent of spatial interference between each of the plurality of predicted trajectories of the vehicle and the predicted trajectories of each of the plurality of objects,select a path that the vehicle should take based on the interference level being less than a predetermined threshold, andtransmit an actuating signal generated corresponding to the selected path; and

    (ii) an actuator configured to operate the vehicle in accordance with the actuating signal.

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