HOST VEHICLE OPERATION USING REMOTE VEHICLE INTENTION PREDICTION
First Claim
1. A method of generating projected vehicle information for use in traversing a vehicle transportation network, the method comprising:
- receiving, at a host vehicle, remote vehicle spatial state information for a remote vehicle;
identifying vehicle transportation network information representing a portion of the vehicle transportation network based on the remote vehicle spatial state information;
generating, by a processor in response to instructions stored on a non-transitory computer readable medium, at least one initial probability value based on a comparison of the remote vehicle spatial state information and the vehicle transportation network information at an initial time point, each initial probability value indicating a likelihood that the remote vehicle is following a single lane within the vehicle transportation network information;
generating, for a plurality of time points including the initial time point, a deviation of the remote vehicle between adjacent values for the remote vehicle spatial state information relative to the vehicle transportation network information;
updating, for each single lane and for each deviation, the likelihood that the remote vehicle is following the single lane using a new probability value based on the deviation;
generating, for the remote vehicle, a trajectory using the likelihood as updated; and
traversing, by the host vehicle, the vehicle transportation network using the vehicle transportation network information and the trajectory for the remote vehicle.
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Accused Products
Abstract
A host vehicle receives remote vehicle spatial state information for a remote vehicle and identifies vehicle transportation network information representing a portion of a transportation network based on that information. At least one initial probability value is generated based on comparing the spatial state information and the transportation network information at an initial time point, each initial probability value indicating a likelihood that the remote vehicle is following a lane within the transportation network. A deviation between adjacent values for the spatial state information relative to the transportation network information is generated for a plurality of time points. For each single lane and deviation, the likelihood that the remote vehicle is following the lane using a new probability value based on the deviation is updated, a trajectory using the updated likelihood is generated, and the host vehicle traverses the transportation network using the transportation network information and trajectory.
45 Citations
20 Claims
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1. A method of generating projected vehicle information for use in traversing a vehicle transportation network, the method comprising:
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receiving, at a host vehicle, remote vehicle spatial state information for a remote vehicle; identifying vehicle transportation network information representing a portion of the vehicle transportation network based on the remote vehicle spatial state information; generating, by a processor in response to instructions stored on a non-transitory computer readable medium, at least one initial probability value based on a comparison of the remote vehicle spatial state information and the vehicle transportation network information at an initial time point, each initial probability value indicating a likelihood that the remote vehicle is following a single lane within the vehicle transportation network information; generating, for a plurality of time points including the initial time point, a deviation of the remote vehicle between adjacent values for the remote vehicle spatial state information relative to the vehicle transportation network information; updating, for each single lane and for each deviation, the likelihood that the remote vehicle is following the single lane using a new probability value based on the deviation; generating, for the remote vehicle, a trajectory using the likelihood as updated; and traversing, by the host vehicle, the vehicle transportation network using the vehicle transportation network information and the trajectory for the remote vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. An apparatus for generating projected vehicle information for use in traversing a vehicle transportation network, the apparatus comprising:
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a non-transitory memory; and a processor configured to execute instructions stored in the non-transitory memory to; receive remote vehicle spatial state information for a remote vehicle; identify vehicle transportation network information representing a portion of the vehicle transportation network based on the remote vehicle spatial state information; generate at least one initial probability value based on a comparison of the remote vehicle spatial state information and the vehicle transportation network information at an initial time point, each initial probability value indicating a likelihood that the remote vehicle is following a single lane within the vehicle transportation network information; generate, for a plurality of time points including the initial time point, a deviation of the remote vehicle between adjacent values for the remote vehicle spatial state information relative to the vehicle transportation network information; update, for each single lane and for each deviation, the likelihood that the remote vehicle is following the single lane using a new probability value based on the deviation; generate, for the remote vehicle, a trajectory using the likelihood as updated; and traverse, using a host vehicle, the vehicle transportation network using the vehicle transportation network information and the trajectory for the remote vehicle. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification