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

Claim 9:
10. A method for trajectory prediction, comprising:
detecting an obstacle and a goal using a first sensor of a first sensor type;
detecting the obstacle and the goal using a second sensor of a second sensor type, wherein the second sensor type is different than the first sensor type;
performing matching on the obstacle detected by the first sensor and the obstacle detected by the second sensor via a processor,
modeling an existence probability of the obstacle based on the matching via the processor, and
tracking the obstacle based on the existence probability and a constant velocity model via the processor;
generating a trajectory for an autonomous vehicle based on the tracked obstacle, the goal, and a non-linear model predictive control (NMPC) via a trajectory planner; and
implementing the trajectory for the autonomous vehicle by driving one or more vehicle actuators via a low-level controller,
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.