公开(公告)号：US09248834B1

公开(公告)日：2016-02-02

申请号：US14505007

申请日：2014-10-02

Applicant: Google Inc.

Inventor： David Ian Franklin Ferguson ,  David Harrison Silver ,  Stéphane Ross ,  Nathaniel Fairfield ,  Ioan-Alexandru Sucan

IPC: G08G1/16 ,  B60W30/09

CPC classification number: B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W30/18154 ,  B60W2550/10 ,  B60W2550/30 ,  B60W2600/00 ,  B60W2720/24 ,  G05D1/0088 ,  G05D1/0214

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.

Abstract translation: 本公开的方面涉及检测和响应车辆环境中的物体。 例如，可以在车辆的环境中识别对象，物体具有标题和位置。 可以使用描述车辆环境的地图信息和对象的标题和位置来生成对象的一组可能的动作。 可以基于一组可能的动作来生成对象的一组可能的未来轨迹。 可以基于包括检测到的对象的状态的上下文信息来确定可能的未来轨迹集合中的每个轨迹的似然值。 基于针对可能的未来轨迹集合中的每个轨迹的确定的似然值来确定最终的未来轨迹。 然后车辆被操纵以避免最终的未来轨迹和物体。