Behavior and intent estimations of road users for autonomous vehicles
First Claim
1. A method of maneuvering a vehicle, the method comprising:
- receiving, by one or more processors, data from a perception system of the vehicle identifying a road user, the data also identifying characteristics of the road user as well as contextual information about an environment in which the vehicle is currently driving;
generating, by the one or more processors, a prediction of an intent of the road user using the data, wherein the prediction of the intent of the road user includes that the road user crossing a roadway on which the vehicle is currently driving and a point in time for the road user crossing the roadway;
generating, by the one or more processors, a prediction of a behavior of the road user for a predetermined period of time into the future using the data, the prediction of the behavior indicating the road user is unlikely to cross the roadway until after a future time that the vehicle is expected to have passed the road user; and
maneuvering, by the one or more processors, the vehicle in order to promote the prediction of the intent over the prediction of the behavior to allow the road user to cross the roadway before the vehicle passes the road user.
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Abstract
As an example, data identifying characteristics of a road user as well as contextual information about the vehicle'"'"'s environment is received from the vehicle'"'"'s perception system. A prediction of the intent of the object including an action of a predetermined list of actions to be initiated by the road user and a point in time for initiation of the action is generated using the data. A prediction of the behavior of the road user for a predetermined period of time into the future indicating that the road user is not going to initiate the action during the predetermined period of time is generated using the data. When the prediction of the behavior indicates that the road user is not going to initiate the action during the predetermined period of time, the vehicle is maneuvered according to the prediction of the intent prior to the vehicle passing the object.
43 Citations
20 Claims
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1. A method of maneuvering a vehicle, the method comprising:
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receiving, by one or more processors, data from a perception system of the vehicle identifying a road user, the data also identifying characteristics of the road user as well as contextual information about an environment in which the vehicle is currently driving; generating, by the one or more processors, a prediction of an intent of the road user using the data, wherein the prediction of the intent of the road user includes that the road user crossing a roadway on which the vehicle is currently driving and a point in time for the road user crossing the roadway; generating, by the one or more processors, a prediction of a behavior of the road user for a predetermined period of time into the future using the data, the prediction of the behavior indicating the road user is unlikely to cross the roadway until after a future time that the vehicle is expected to have passed the road user; and maneuvering, by the one or more processors, the vehicle in order to promote the prediction of the intent over the prediction of the behavior to allow the road user to cross the roadway before the vehicle passes the road user. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for maneuvering a vehicle, the system comprising:
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one or more processors configured to; receive data from a perception system of the vehicle identifying a road user, the data also identifying characteristics of the road user as well as contextual information about an environment in which the vehicle is currently driving; generate a prediction of an intent of the road user using the data, wherein the prediction of the intent of the road user includes the road user crossing a roadway on which the vehicle is currently driving and a point in time for the road user crossing the roadway; generate a prediction of a behavior of the road user for a predetermined period of time into the future using the data, the prediction of the behavior indicating that the road user is unlikely to cross the roadway until after a future time that the vehicle is expected to have passed the road user; and maneuver the vehicle in order to promote the prediction of the intent over the prediction of the behavior to allow the road user to cross the roadway before the vehicle passes the road user. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification