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1. (WO2018052602) MOTION PLANNING AND INTENTION PREDICTION FOR AUTONOMOUS DRIVING IN HIGHWAY SCENARIOS VIA GRAPHICAL MODEL-BASED FACTORIZATION

Pub. No.:    WO/2018/052602    International Application No.:    PCT/US2017/046795
Publication Date: Fri Mar 23 00:59:59 CET 2018 International Filing Date: Tue Aug 15 01:59:59 CEST 2017
IPC: G01C 21/28
G01C 21/34
G05D 1/02
G08G 1/16
Applicants: QUALCOMM INCORPORATED
Inventors: LV, Zhaoyang
AGHAMOHAMMADI, Aliakbar
TAMJIDI, Amirhossein
Title: MOTION PLANNING AND INTENTION PREDICTION FOR AUTONOMOUS DRIVING IN HIGHWAY SCENARIOS VIA GRAPHICAL MODEL-BASED FACTORIZATION
Abstract:
Aspects of the disclosure are related to a method and corresponding apparatus and computer-readable medium for planning a motion for a first vehicle, comprising: estimating past states (210) of an observed second vehicle in the vicinity of the first vehicle based on sensor inputs, predicting a future trajectory (220) of the second vehicle based on the estimated past states, planning a future trajectory (250) of the first vehicle based on the predicted future trajectory (220) of the second vehicle and a safety cost function, and driving the first vehicle to follow the planned trajectory (250).