The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Sep. 21, 2021
Filed:
Dec. 31, 2019
Baidu Usa Llc, Sunnyvale, CA (US);
Kecheng Xu, Sunnyvale, CA (US);
Hongyi Sun, Sunnyvale, CA (US);
Jiacheng Pan, Sunnyvale, CA (US);
Xiangquan Xiao, Sunnyvale, CA (US);
Jiangtao Hu, Sunnyvale, CA (US);
Jinghao Miao, Sunnyvale, CA (US);
BAIDU USA LLC, Sunnyvale, CA (US);
Abstract
A system and method for predicting the near-term trajectory of a moving obstacle sensed by an autonomous driving vehicle (ADV) is disclosed. The method applies neural networks such as a LSTM model to learn dynamic features of the moving obstacle's motion based on its past trajectory up to its current position and a CNN model to learn the semantic map features of the driving environment in a portion of an image map. From the learned dynamic features of the moving obstacle and the learned semantic map features of the environment, the method applies a neural network to iteratively predict the moving obstacle's positions for successive time points of a prediction interval. To predict the moving obstacle's position at the next time point from the currently predicted position, the methods may update the learned dynamic features of the moving obstacle based on its past trajectory up to the currently predicted position.