公开(公告)号：US11977440B2

公开(公告)日：2024-05-07

申请号：US17102303

申请日：2020-11-23

Applicant: FORD GLOBAL TECHNOLOGIES, LLC

Inventor： John Lepird ,  Lorenzo Nardi ,  Andrew T. Hartnett

IPC: G06F11/00 ,  G06F11/07 ,  G06F11/14

CPC classification number: G06F11/079 ,  G06F11/0709 ,  G06F11/0775 ,  G06F11/14

Abstract: A system includes an on-board electronic device of an autonomous vehicle, and a computer-readable medium having one or more programming instructions. The system receives one or more forecast messages pertaining to a track, where each of the forecast messages includes a unique identifier associated with the track, and receives one or more inference messages pertaining to the track, where each of the inference messages includes the unique identifier. The system aggregates the one or more forecast messages and the one or more inference messages to generate a message set, and applies a set of processing operations to the message set to generate a feedback message. The system identifies one or more events from the feedback message, automatically generates an annotation for one or more of the events that is identified, and embeds the generated annotations in an event log for the autonomous vehicle.

公开(公告)号：US12024195B2

公开(公告)日：2024-07-02

申请号：US17336661

申请日：2021-06-02

Applicant: FORD GLOBAL TECHNOLOGIES, LLC

Inventor： Friederike Schneemann ,  Andrew T. Hartnett ,  Gregory Boyd Nichols ,  Constantin Savtchenko

IPC: B60W60/00 ,  G05D1/00

CPC classification number: B60W60/0011 ,  G05D1/0088 ,  G05D1/0214 ,  G05D1/0221 ,  B60W2420/403 ,  B60W2420/408 ,  G05D1/0202 ,  G05D1/0206

Abstract: Methods by which an autonomous vehicle may predict actions of other actors are disclosed. A vehicle will assign either a high priority rating or a low priority rating to each actor that it detects. The vehicle will then generate a forecast for each of the detected actors. Some of not all high priority actors will receive a high resolution forecast. Low priority actors, and optionally also some of the high priority actors, will receive a low resolution forecast. The system will the forecasts to predict actions for the actors. The autonomous vehicle will then use the predicted actions to determine its trajectory.

公开(公告)号：US11794731B2

公开(公告)日：2023-10-24

申请号：US17308688

申请日：2021-05-05

Applicant: FORD GLOBAL TECHNOLOGIES, LLC

Inventor： Siddhesh Shyam Khandelwal ,  William Junbo Qi ,  Jagjeet Singh ,  Andrew T. Hartnett ,  Deva Ramanan

IPC: B60W30/09 ,  B60W60/00 ,  B60W30/095 ,  G06V40/20 ,  G06V20/56

CPC classification number: B60W30/09 ,  B60W30/0953 ,  B60W30/0956 ,  B60W60/0015 ,  G06V20/56 ,  G06V40/25 ,  B60W2420/42 ,  B60W2420/52 ,  B60W2554/4029 ,  B60W2554/4044 ,  B60W2554/4045 ,  B60W2554/4046 ,  G06V2201/07

Abstract: Systems and methods of determining trajectories of an actor in an environment in which a vehicle is operating are provided. The method includes, by an object detection system of a vehicle in an environment, detecting an actor that may move within a scene in the environment. The method further includes using context of the scene to determine a reference polyline for the actor and determining a kinematic history of the actor. The method additionally includes using the kinematic history to predict a waypoint, which is a predicted position of the actor at a conclusion of a waypoint time period, and identifying a segment of the reference polyline, the segment extending from a current location to a point along the reference polyline that is closest to the waypoint and determining a trajectory for the actor conditioned by the segment of the reference polyline.