CN115515835A - 轨迹分类 - Google Patents

轨迹分类 Download PDF

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Publication number
CN115515835A
CN115515835A CN202180033877.9A CN202180033877A CN115515835A CN 115515835 A CN115515835 A CN 115515835A CN 202180033877 A CN202180033877 A CN 202180033877A CN 115515835 A CN115515835 A CN 115515835A
Authority
CN
China
Prior art keywords
vehicle
trajectory
data
model
environment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202180033877.9A
Other languages
English (en)
Chinese (zh)
Inventor
K·M·西伯特
G·加利梅拉
S·帕里克
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zoox Inc
Original Assignee
Zoox Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US16/870,083 external-priority patent/US11554790B2/en
Priority claimed from US16/870,355 external-priority patent/US11708093B2/en
Application filed by Zoox Inc filed Critical Zoox Inc
Publication of CN115515835A publication Critical patent/CN115515835A/zh
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18154—Approaching an intersection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0017—Planning or execution of driving tasks specially adapted for safety of other traffic participants
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0022—Gains, weighting coefficients or weighting functions
    • B60W2050/0025—Transfer function weighting factor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/402—Type
    • B60W2554/4029—Pedestrians

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
CN202180033877.9A 2020-05-08 2021-04-26 轨迹分类 Pending CN115515835A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US16/870,083 US11554790B2 (en) 2020-05-08 2020-05-08 Trajectory classification
US16/870,355 2020-05-08
US16/870,355 US11708093B2 (en) 2020-05-08 2020-05-08 Trajectories with intent
US16/870,083 2020-05-08
PCT/US2021/029232 WO2021225822A1 (fr) 2020-05-08 2021-04-26 Classification de trajectoires

Publications (1)

Publication Number Publication Date
CN115515835A true CN115515835A (zh) 2022-12-23

Family

ID=78468315

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180033877.9A Pending CN115515835A (zh) 2020-05-08 2021-04-26 轨迹分类

Country Status (4)

Country Link
EP (1) EP4146510A4 (fr)
JP (1) JP7834031B2 (fr)
CN (1) CN115515835A (fr)
WO (1) WO2021225822A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117312987A (zh) * 2023-10-18 2023-12-29 中移动信息技术有限公司 用户类别识别方法、装置、设备及存储介质

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12448006B2 (en) * 2022-03-25 2025-10-21 Motional Ad Llc Predicting and controlling object crossings on vehicle routes
US12358524B2 (en) * 2022-09-27 2025-07-15 Aurora Operations, Inc. Perception system for an autonomous vehicle
WO2025041854A1 (fr) * 2023-08-24 2025-02-27 住友電気工業株式会社 Dispositif d'analyse de trajectoire de passage, procédé d'analyse et programme informatique
WO2025115814A1 (fr) * 2023-11-28 2025-06-05 住友電気工業株式会社 Système de prédiction de traversée, dispositif de prédiction de traversée et procédé de prédiction de traversée
US20250196887A1 (en) * 2023-12-14 2025-06-19 Waymo Llc Generating control inputs for agent trajectory planning using neural networks
JP2026023811A (ja) * 2024-08-01 2026-02-13 京セラ株式会社 情報処理装置

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9327693B2 (en) * 2013-04-10 2016-05-03 Magna Electronics Inc. Rear collision avoidance system for vehicle
US9321461B1 (en) * 2014-08-29 2016-04-26 Google Inc. Change detection using curve alignment
IL288191B2 (en) * 2016-12-23 2023-10-01 Mobileye Vision Technologies Ltd Navigational system with imposed liability constraints
US10503172B2 (en) * 2017-10-18 2019-12-10 Luminar Technologies, Inc. Controlling an autonomous vehicle based on independent driving decisions
US10562538B2 (en) * 2017-11-22 2020-02-18 Uatc, Llc Object interaction prediction systems and methods for autonomous vehicles
JP6917878B2 (ja) * 2017-12-18 2021-08-11 日立Astemo株式会社 移動体挙動予測装置
US10627818B2 (en) * 2018-03-28 2020-04-21 Zoox, Inc. Temporal prediction model for semantic intent understanding
US11169531B2 (en) * 2018-10-04 2021-11-09 Zoox, Inc. Trajectory prediction on top-down scenes

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117312987A (zh) * 2023-10-18 2023-12-29 中移动信息技术有限公司 用户类别识别方法、装置、设备及存储介质

Also Published As

Publication number Publication date
JP2023525054A (ja) 2023-06-14
EP4146510A4 (fr) 2024-05-01
JP7834031B2 (ja) 2026-03-23
EP4146510A1 (fr) 2023-03-15
WO2021225822A1 (fr) 2021-11-11

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