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公开(公告)号：US10710579B2
公开(公告)日：2020-07-14
申请号：US15611397
申请日：2017-06-01
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , Abhijit Ogale , David Ferguson
Abstract: In some implementations, an autonomous or semi-autonomous vehicle is capable of using a collision prediction system to determine a confidence that any objects detected within a vicinity of the vehicle are on a trajectory that will collide with the vehicle. Laser obstacle points derived from recent sensor readings of one or more sensors of a vehicle are initially obtained. The laser obstacle points are projected into a pose coordinate system to generate an occupancy grid of a vicinity of the vehicle. A confidence that any objects represented by the laser obstacle points are on a trajectory that will collide with the vehicle is determined by applying a particle filter to the occupancy grid.
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公开(公告)号：US20180345958A1
公开(公告)日：2018-12-06
申请号：US15611397
申请日：2017-06-01
Applicant: Waymo LLC
Inventor： Wan-Yen Lo , Abhijit Ogale , David Ferguson
Abstract: In some implementations, an autonomous or semi-autonomous vehicle is capable of using a collision prediction system to determine a confidence that any objects detected within a vicinity of the vehicle are on a trajectory that will collide with the vehicle. Laser obstacle points derived from recent sensor readings of one or more sensors of a vehicle are initially obtained. The laser obstacle points are projected into a pose coordinate system to generate an occupancy grid of a vicinity of the vehicle. A confidence that any objects represented by the laser obstacle points are on a trajectory that will collide with the vehicle is determined by applying a particle filter to the occupancy grid.
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