公开(公告)号：US20230100741A1

公开(公告)日：2023-03-30

申请号：US17487809

申请日：2021-09-28

Applicant: GM Global Technology Operations LLC

Inventor： AMIT AGARWAL ,  Hyukseong Kwon ,  Rajan Bhattacharyya ,  Michael J. Daily ,  Gavin D. Holland

IPC: B60W60/00 ,  B60W50/00

Abstract: A method using unsupervised velocity prediction and correction for urban driving from sequences of noisy position estimates includes: performing a vehicle velocity prediction for one or more other vehicles in a vicinity of a host automobile vehicle; calculating a first heuristic based on a uniformity test; calculating a second heuristic based on a vehicle speed of the one or more other vehicles; combining the first heuristic and the second heuristic using a weighted sum; determining an uncertainty mask applying the combined first heuristic and the second heuristic and a heuristic threshold; and applying the uncertainty mask to identify a velocity correction for use by the host automobile vehicle.