The invention relates to nonautonomous vehicle velocity prediction with autonomous vehicle reference. Respective planned reference velocities of a reference vehicle are received for each of a plurality of time steps including a current time step. Respective sensed velocities of a subject vehicle for each of the time steps are determined from sensor data. Respective distances between the reference vehicle and the subject vehicle are determined for each of the plurality of time steps. A number of intervening vehicles between the reference vehicle and the subject vehicle is determined. Based on the planned reference velocities of the reference vehicle, the sensed velocities of the subject vehicle, the distance, and the number of intervening vehicles, a future velocity of the subject vehicle is predicted at a time step that is after the current time step.
本公开提供了“具有自主车辆参考的非自主车辆速度预测”。针对包括当前时间步长的多个时间步长中的每一个接收参考车辆的相应计划参考速度。根据传感器数据确定主体车辆针对所述时间步长中的每一个的相应感测速度。针对所述多个时间步长中的每一个确定所述参考车辆与所述主体车辆之间的相应距离。确定参考车辆与主体车辆之间的中间车辆的数量。基于所述参考车辆的所述计划参考速度、所述主体车辆的所述感测速度、所述距离和中间车辆的所述数量,预测所述主体车辆在所述当前时间步长之后的时间步长处的未来速度。
NONAUTONOMOUS VEHICLE VELOCITY PREDICTION WITH AUTONOMOUS VEHICLE REFERENCE
具有自主车辆参考的非自主车辆速度预测
2021-04-09
Patent
Electronic Resource
Chinese
NONAUTONOMOUS VEHICLE SPEED PREDICTION WITH AUTONOMOUS VEHICLE REFERENCE
European Patent Office | 2021
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