Predicting trajectories of objects based on contextual information
First Claim
1. A computer-implemented method for maneuvering a vehicle, the method comprising:
- receiving, by one or more computing devices, sensor data identifying a first object in a vehicle'"'"'s environment;
generating, by the one or more computing devices, a set of possible future trajectories of the first object based on the sensor data for the first object;
identifying a first plurality of waypoints based on each trajectory in the set of possible future trajectories, wherein a waypoint includes a position and a timestamp corresponding to a future time;
determining a trajectory of the vehicle, wherein the trajectory of the vehicle includes a second plurality of waypoints;
comparing the first plurality of waypoints to the second plurality of waypoints; and
maneuvering, by the one or more computing devices, the vehicle in order to avoid the first object based on the comparison.
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Accused Products
Abstract
Aspects of the disclosure relate to detecting and responding to objects in a vehicle'"'"'s environment. For example, an object may be identified in a vehicle'"'"'s environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle'"'"'s environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.
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Citations
20 Claims
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1. A computer-implemented method for maneuvering a vehicle, the method comprising:
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receiving, by one or more computing devices, sensor data identifying a first object in a vehicle'"'"'s environment; generating, by the one or more computing devices, a set of possible future trajectories of the first object based on the sensor data for the first object; identifying a first plurality of waypoints based on each trajectory in the set of possible future trajectories, wherein a waypoint includes a position and a timestamp corresponding to a future time; determining a trajectory of the vehicle, wherein the trajectory of the vehicle includes a second plurality of waypoints; comparing the first plurality of waypoints to the second plurality of waypoints; and maneuvering, by the one or more computing devices, the vehicle in order to avoid the first object based on the comparison. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for maneuvering a vehicle, the system comprising one or more computing devices configured to:
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receive sensor data identifying a first object in a vehicle'"'"'s environment; generate a set of possible future trajectories of the first object based on the sensor data for the first object; identify a first plurality of waypoints based on each trajectory in the set of possible future trajectories, wherein a waypoint includes a position and a timestamp corresponding to a future time; determine a trajectory of the vehicle, wherein the trajectory of the vehicle includes a second plurality of waypoints; compare the first plurality of waypoints to the second plurality of waypoints; and maneuver the vehicle in order to avoid the first object based on the comparison. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification