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.

公开(公告)号：US11704912B2

公开(公告)日：2023-07-18

申请号：US16902678

申请日：2020-06-16

Applicant: FORD GLOBAL TECHNOLOGIES, LLC

Inventor： Guy Hotson ,  Richard L. Kwant ,  Brett Browning ,  Deva Ramanan

IPC: B60W40/04 ,  B60W60/00 ,  G06F18/22 ,  G06F18/214 ,  G06F18/2431 ,  H04N23/90 ,  G06V20/58 ,  G06V10/764 ,  G06V10/774 ,  G06V10/776 ,  G06V10/82 ,  G06F18/21

CPC classification number: G06V20/584 ,  B60W40/04 ,  B60W60/0015 ,  B60W60/0025 ,  B60W60/0027 ,  G06F18/214 ,  G06F18/217 ,  G06F18/22 ,  G06F18/2431 ,  G06V10/764 ,  G06V10/776 ,  G06V10/7753 ,  G06V10/82 ,  H04N23/90 ,  B60W2420/42 ,  B60W2555/60

Abstract: A method is disclosed for evaluating a classifier used to determine a traffic light signal state in images. The method includes, by a computer vision system of a vehicle, receiving at least one image of a traffic signal device of an imminent intersection. The traffic signal device includes a traffic signal face including one or more traffic signal elements. The method includes classifying, by a traffic light classifier (TLC), a classification state of the traffic signal face using labeled images correlated to the received at least one image. The classification state controls an operation of the vehicle at the intersection. The method includes evaluating a performance of the classifying of the classification state generated by the TLC. The evaluation is a label-free performance evaluation based on unlabeled images. The method includes training the TLC based on the evaluated performance.