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;
determining, by the one or more computing devices, contextual information for a second object in the vehicle'"'"'s environment based on the sensor data, the second object being different from the first object;
determining, by the one or more computing devices, a final future trajectory based on the contextual information and a likelihood value for each possible future trajectory set of possible future trajectories, each likelihood value corresponding to a likelihood that the first object will follow a given possible future trajectory; and
maneuvering, by the one or more computing devices, the vehicle in order to avoid the final future trajectory and the first object.
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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.
288 Citations
19 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; determining, by the one or more computing devices, contextual information for a second object in the vehicle'"'"'s environment based on the sensor data, the second object being different from the first object; determining, by the one or more computing devices, a final future trajectory based on the contextual information and a likelihood value for each possible future trajectory set of possible future trajectories, each likelihood value corresponding to a likelihood that the first object will follow a given possible future trajectory; and maneuvering, by the one or more computing devices, the vehicle in order to avoid the final future trajectory and the first object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. 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; determine contextual information for a second object in the vehicle'"'"'s environment based on the sensor data, the second object being different from the first object; determine a final future trajectory based on the contextual information and a likelihood value for each possible future trajectory set of possible future trajectories, each likelihood value corresponding to a likelihood that the first object will follow a given possible future trajectory; and maneuver the vehicle in order to avoid the final future trajectory and the first object. - View Dependent Claims (15, 16, 17, 18)
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19. A non-transitory computer-readable medium on which instructions are stored, the instructions, when executed by one or more processors cause the one or more processors to perform a method of maneuvering a vehicle, the method comprising:
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receiving sensor data identifying a first object in a vehicle'"'"'s environment; generating a set of possible future trajectories of the first object based on the sensor data for the first object; determining contextual information for a second object in the vehicle'"'"'s environment based on the sensor data, the second object being different from the first object; determining a final future trajectory based on the contextual information and a likelihood value for each possible future trajectory set of possible future trajectories, each likelihood value corresponding to a likelihood that the first object will follow a given possible future trajectory; and maneuvering the vehicle in order to avoid the final future trajectory and the first object.
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Specification