Patent ID: 11904906
Assignee: ARGO AI, LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A method for generating a trajectory of an uncertain road user (URU) in proximity of a drivable area that a vehicle will traverse, the method comprising:
detecting a URU within a threshold distance of a drivable area that a vehicle is traversing or will traverse;
receiving perception information relating to the URU;
for each of a plurality of entry points on a drivable area boundary that the URU can use to enter the drivable area, using a plurality of features associated with that entry point to determine a likelihood that the URU will enter the drivable area from that entry point, the plurality of features computed based on the perception information;
generating, using the plurality of entry points and the corresponding likelihoods, a predicted trajectory of the URU; and
controlling, based on the predicted trajectory, navigation of the vehicle while traversing the drivable area to avoid collision with the URU,
wherein the plurality of features associated with that entry point comprise at least one of the following:
a distance between the URU's current position and that entry point wherein the likelihood that the URU will enter the drivable area from that entry point increases as the distance decreases,
time the URU will take to reach that entry point wherein the likelihood that the URU will enter the drivable area from that entry point increases as the time decreases,
a difference between a tangential vector of the drivable area boundary at that entry point and a heading of the URU wherein the likelihood that the URU will enter the drivable area from that entry point increases as the difference increases,
a distance between the URU's current position and a lane within the drivable area that is closest to that entry point wherein the likelihood that the URU will enter the drivable area from that entry point increases as the distance decreases, or
a difference between a direction of the lane and the heading of the URU wherein the likelihood that the URU will enter the drivable area from that entry point increases as the difference increases.