Approach for estimating the geometry of roads and lanes by using vehicle trajectories
First Claim
Patent Images
1. A method comprising:
- identifying, using one or more processors, a base trajectory and a first trajectory, each trajectory including one or more locations, and each trajectory being associated with a particular road vehicle;
selecting, using the one or more processors, a base location from the one or more locations of the base trajectory;
clustering, using the one or more processors, at least one location from the first trajectory, wherein the at least one location is selected based on a measured distance from the base location;
determining, using the one or more processors, a third location based on the clustered locations and the base location, the third location being different from the base location and the clustered locations;
calculating, using the one or more processors, a third trajectory using the third location; and
changing, using the one or more processors, at least one of a speed of a third road vehicle and a direction of the third road vehicle based on the third trajectory.
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Abstract
A method and apparatus is provided for controlling the operation of an autonomous vehicle. According to one aspect, the autonomous vehicle may track the trajectories of other vehicles on a road. Based on the other vehicle'"'"'s trajectories, the autonomous vehicle may generate a representative trajectory. Afterwards, the autonomous vehicle may change at least one of its speed or direction based on the representative trajectory.
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Citations
20 Claims
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1. A method comprising:
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identifying, using one or more processors, a base trajectory and a first trajectory, each trajectory including one or more locations, and each trajectory being associated with a particular road vehicle; selecting, using the one or more processors, a base location from the one or more locations of the base trajectory; clustering, using the one or more processors, at least one location from the first trajectory, wherein the at least one location is selected based on a measured distance from the base location; determining, using the one or more processors, a third location based on the clustered locations and the base location, the third location being different from the base location and the clustered locations; calculating, using the one or more processors, a third trajectory using the third location; and changing, using the one or more processors, at least one of a speed of a third road vehicle and a direction of the third road vehicle based on the third trajectory. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system comprising:
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memory; and one or more processors in communication with the memory, wherein the one or more processors are configured to; identify a first trajectory associated with a first road vehicle, the first trajectory comprising a first plurality of different locations each associated with different instants in time, wherein at least one location of the first plurality is in a first lane at a first instant in time and at least one location of the first plurality is in a second lane at an instant in time later than the first instant, the first lane and second lane being on the same road; identify a second trajectory associated with a second road vehicle, the second trajectory comprising a second plurality of different locations each associated with different instants in time, wherein at least one location of the second plurality is in the first lane at a second instant in time and at least one location of the second plurality is in the second lane at an instant in time later than the second instant; select a location from the second trajectory; cluster at least one location from the first trajectory, wherein the at least one location is selected based on being within a threshold distance from the location selected from the second trajectory; determine a third location based on the clustered at least one location and the base location, the third location being different from the base location and the clustered locations; and indicate to a third vehicle that the first lane is blocked and steer the third vehicle around the blocked lane via the third location. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17)
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18. A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by a processor associated with a road vehicle, cause the processor to perform a method, the method comprising:
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identifying a base trajectory and a first trajectory, each trajectory including one or more locations, and each trajectory being associated with a particular road vehicle; selecting a base location from the one or more locations of the base trajectory; clustering at least one location from the first trajectory, wherein the at least one location is within a threshold distance from the base location; determining a representative location based on the clustered locations and the base location, the representative location being different from the base location and the clustered locations; and calculating a new trajectory using the representative location; and
,automatically steering a third vehicle based on the new trajectory. - View Dependent Claims (19, 20)
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Specification