Title:
自律型車両の計画および予測
Document Type and Number:
Japanese Patent JP7455851
Kind Code:
B2
Abstract:
An autonomous vehicle (AV) planning method comprises: receiving sensor inputs pertaining to an AV; processing the AV sensor inputs to determine an encountered driving scenario; in an AV planner, executing a tree search algorithm to determine a sequence of AV manoeuvres corresponding to a path through a constructed game tree; and generating AV control signals for executing the determined sequence of AV manoeuvres; wherein the game tree has a plurality of nodes representing anticipated states of the encountered driving scenario, and the anticipated driving scenario state of each child node is determined by updating the driving scenario state of its parent node based on (i) a candidate AV manoeuvre and (ii) an anticipated behaviour of at least one external agent in the encountered driving scenario.
Inventors:
Subrahmanyan, Rama Moussie
Simon, Ryans
Subet, Penkov
Maurice, Antonello
Simon, Ryans
Subet, Penkov
Maurice, Antonello
Application Number:
JP2021546461A
Publication Date:
March 26, 2024
Filing Date:
October 16, 2019
Export Citation:
Assignee:
FIVE AI LIMITED
International Classes:
B60W40/04; B60W60/00; G01C21/34; G08G1/01
Domestic Patent References:
| JP20164478A | ||||
| JP201727599A | ||||
| JP2008210051A | ||||
| JP2005346371A | ||||
| JP201651465A | ||||
| JP201670805A |
Foreign References:
| US20180089563 | ||||
| US9187088 | ||||
| WO2018162521A1 | ||||
| WO2017138664A1 | ||||
| WO2018131322A1 |
Other References:
NACHIKET DEO et al.,How would surround vehicles move? A Unified Framework for Maneuver Classification and Motion Prediction,ARXIV.ORG,2018年01月19日
HOUENOU ADAM et al.,Vehicle trajectory prediction based on motion model and maneuver recognition,2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS,2013年11月03日,4363-4369
HOUENOU ADAM et al.,Vehicle trajectory prediction based on motion model and maneuver recognition,2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS,2013年11月03日,4363-4369
Attorney, Agent or Firm:
Yukitaka Nakamura
Manabu Miyajima
Takeshi Sekine
Akira Akaoka
Manabu Miyajima
Takeshi Sekine
Akira Akaoka