Patent ID: 11970175
Assignee: MARELLI EUROPE S.P.A.
Field: Computer technology (Electrical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A system for obtaining a prediction an action (at) of a vehicle (V), including:
a camera for acquiring a sequence of images (Ft) of the scene dynamic seen by the vehicle (V), in particular in front of the vehicle (V),
a convolutional neural network visual encoder configured to obtaining for each acquired image (Ft) in said sequence of images (Ft) of the scene dynamic seen by the vehicle (V) at each time step (t) a corresponding visual features vector (vt),
one or more sensor configured to obtain a position of the vehicle (st) at the same time step (st),
a Recurrent Neural Network, in particular a LSTM, network configured to receive said visual features vector (vt) and position of the vehicle (st) at said time step (t) and to generate a prediction of the action (at) of the vehicle (V) taking in account the previous hidden state (ht-1),
wherein the system is configured to receive as input a set of control commands (C) representing maneuvers of the vehicle (V),
said Recurrent Neural Network comprising a plurality of Recurrent Neural Network branches each corresponding to a control command (ci) in said set of control commands (C),
said system comprising a command conditioned switch configured upon reception of a control command (ci) to select the corresponding branch of said Recurrent Neural Network,
said system being then configured to operate said selected corresponding branch to process said visual features vector (vt) and position of the vehicle (st) at said time step (t) to obtain said prediction of the action (at) of the vehicle (V).