Patent ID: 11906625
Assignee: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Field: Computer technology (Electrical engineering)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A computer-implemented method, comprising:
receiving, by at least one data processor and from one or more sensors positioned on a vehicle, data indicative of a detected object in an area at least partially surrounding the vehicle;
fusing, by the at least one data processor, object proposals of the detected object identified from the received data to form a fused object proposal such that the fused object proposal is representative of the detected object, wherein fusing object proposals comprises:
projecting, by the at least one data processor, the object proposals onto a global coordinate frame with respect to the vehicle; and
combining, by the at least one data processor and based on the projection of the object proposals, a subset of object proposals determined to belong to the detected object;

generating, by the processing device, a track of the detected object, wherein the track is based on the fused object proposal and updated received data indicative of the detected object;
determining, by the at least one data processor, a maneuver class of the detected object, the maneuver class indicative of motion of the detected object and based on the generated track;
determining, by the at least one data processor, a plurality of future trajectories for the detected object, the plurality of future trajectories based on the generated track and at least one of a motion model or a probabilistic model; and
determining, by the processing device, an expected future trajectory of the detected object based on the corresponding maneuver class and the plurality of future trajectories.