An autonomous vehicle can obtain state data associated with an object in an environment, obtain map data including information associated with spatial relationships between at least a subset of lanes of a road network, and determine a set of candidate paths that the object may follow in the environment based at least in part on the spatial relationships between at least two lanes of the road network. Each candidate path can include a respective set of spatial cells. The autonomous vehicle can determine, for each candidate path, a predicted occupancy for each spatial cell of the respective set of spatial cells of such candidate path during at least a portion of a prediction time horizon. The autonomous vehicle can generate prediction data associated with the object based at least in part on the predicted occupancy for each spatial cell of the respective set of spatial cells for at least one candidate path.


    Access

    Download


    Export, share and cite



    Title :

    Goal-directed occupancy prediction for autonomous driving


    Contributors:

    Publication date :

    2022-12-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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



    Goal-Directed Occupancy Prediction for Autonomous Driving

    MARCHETTI-BOWICK MICOL / KANIARASU POORNIMA / HAYNES GALEN CLARK | European Patent Office | 2021

    Free access

    Occupancy Prediction-Guided Neural Planner for Autonomous Driving

    Liu, Haochen / Huang, Zhiyu / Lv, Chen | IEEE | 2023



    Towards Safe and Reliable Autonomous Driving: Dynamic Occupancy Set Prediction

    Shao, Wenbo / Xu, Jiahui / Yu, Wenhao et al. | IEEE | 2024


    Interpretable Goal-based Prediction and Planning for Autonomous Driving

    Albrecht, Stefano V. / Brewitt, Cillian / Wilhelm, John et al. | ArXiv | 2020

    Free access