Patent ID: 11932306
Assignee: HONDA MOTOR CO., LTD.
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 17:
18. An autonomous vehicle capable of trajectory prediction, comprising:
a first sensor of a first sensor type detecting an obstacle and a goal;
a second sensor of a second sensor type detecting the obstacle and the goal, wherein the second sensor type is different than the first sensor type;
a processor performing matching on the obstacle detected by the first sensor and the obstacle detected by the second sensor,
wherein the processor models an existence probability of the obstacle based on the matching, and
wherein the processor tracks the obstacle based on the existence probability and a constant velocity model;
a trajectory planner generating a trajectory for the autonomous vehicle based on the tracked obstacle, the goal, and a non-linear model predictive control (NMPC); and
a low-level controller implementing the trajectory for the autonomous vehicle by driving one or more vehicle actuators,
wherein the matching is performed based on a cost function between the obstacle detected by the first sensor and the second sensor and the obstacle tracked by the processor, a cost of the cost function at least partially defined as a distance between a detection of each of the first sensor and the second sensor and the object, the cost function minimizing a time term for tracking the obstacle, facilitating a final position of the autonomous vehicle relative to the goal, and minimizing an area between the goal and the trajectory for the autonomous vehicle.