The invention relates to a method for prediction of a motion of an object (7) in the environment of a vehicle (1), the method comprising: collecting sensor data of the object (7) in the environment of the vehicle (1) by at least one vehicle sensor and predicting the motion of the object (7) on the basis of the sensor data by a self-learning system (6), characterized by inputting occlusion data (8, 13) into the self-learning system (6), wherein the occlusion data (8, 13) refer to occluded objects of the environment, which are hidden for the at least one vehicle sensor and/or inputting ego motion data (16) into the self-learning system (6), wherein the ego motion data (16) refer to an ego motion of the vehicle (1), so that the motion of the object (7) is predicted taking into account the occluded objects and/or the ego motion of the vehicle (1). Also provided is a method of controlling an autonomous vehicle based on the prediction.
Motion prediction with ego motion compensation and consideration of occluded objects
2022-11-09
Patent
Electronic Resource
English
IPC: | G06K Erkennen von Daten , RECOGNITION OF DATA / 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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |
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