Motional Ad LLC

Puneet Singhal

Scott D Pendleton

Bence Cserna

Guchan Ozbilgin

Yu Pan

Lubing Zhou

Giancarlo Baldan

Xiaojun Sun

Laith Sahawneh

Shu-Kai Lin

Provided are methods for light-based object localization, which can include comparing unexpected light sources to expected light sources for determination of an agent, such as a partially and/or fully occluded agent. Some methods described also include generating a trajectory for an autonomous vehicle based on the comparison. Systems and computer program products are also provided.

Light-based object localization

Among other things, techniques are described for determining precedence order at a multiway stop. In embodiments, identifications are assigned to tracks, and young tracks are compared to stale tracks. A young track matches a stale track based on one or more factors. An identification of the young track is reassigned to an identification of the stale track, wherein the young track is determined to match the stale track based on the one or more factors. An earliest time of appearance of agents is determined based on identifications and in view of perception obscured areas. A precedence order for navigating through the intersection is determined based on local rules, the identifications, and the earliest time of appearance of agents, and the vehicle proceeds through the multiway stop intersection in accordance with the precedence order.

Precedence determination at multi-way stops

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Pittsburgh, PA, United States of America

Puneet Singhal