公开(公告)号：US20250078531A1

公开(公告)日：2025-03-06

申请号：US18242928

申请日：2023-09-06

Applicant: Waymo LLC

Inventor： Hang Yan ,  Zhengyu Zhang ,  Yan Wang ,  Jingxiao Zheng ,  Dmitry Kalenichenko ,  Vasiliy Igorevich Karasev ,  Alper Ayvaci ,  Xu Chen

IPC: G06V20/56 ,  B60W60/00 ,  G01S13/89 ,  G06V10/764 ,  G06V10/80

Abstract: A method includes obtaining, by a processing device, input data derived from a set of sensors of an autonomous vehicle (AV), generating, by the processing device using a set of lane detection classifier heads, at least one heatmap based on a fused bird's eye view (BEV) feature generated from the input data, obtaining, by the processing device, a set of polylines using the at least one heatmap, wherein each polyline of the set of polylines corresponds to a respective track of a first set of tracks for a first frame, and generating, by the processing device, a second set of tracks for a second frame after the first frame by using a statistical filter based on a set of extrapolated tracks for the second frame and a set of track measurements for the second frame, wherein each track measurement of the set of track measurements corresponds to a respective updated polyline obtained for the second frame.