An obstacle state evolution of a spatial position of a moving obstacle over a period of time is determined. A lane-obstacle relation evolution of the moving obstacle with each of one or more lanes near the moving obstacle over the period of time is further determined. An intended movement of the moving obstacle is predicted based on the obstacle state evolution and the lane-obstacle evolution. Thereafter, a trajectory of the ADV is planned to control the ADV to avoid a collision with the moving obstacle based on the predicted intended movement of the moving obstacle. The above process is iteratively performed for each of the moving obstacles detected within a predetermined proximity of the ADV.


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    Titel :

    LANE-ATTENTION: PREDICTING VEHICLES' MOVING TRAJECTORIES BY LEARNING THEIR ATTENTION OVER LANES


    Beteiligte:
    PAN JIACHENG (Autor:in) / SUN HONGYI (Autor:in) / XU KECHENG (Autor:in) / JIANG YIFEI (Autor:in) / XIAO XIANGQUAN (Autor:in) / HU JIANGTAO (Autor:in) / MIAO JINGHAO (Autor:in)

    Erscheinungsdatum :

    17.06.2021


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G06V / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen