Patent ID: 11927674
Assignee: HONDA MOTOR CO., LTD.
Field: Control (Instruments)
Classification: CPC G  B | IPC B  G

Claim 8:
9. A system for providing a comprehensive trajectory planner for a person-following vehicle comprising:
a memory storing instructions when executed by a processor cause the processor to:
receive image data and LiDAR data associated with a surrounding environment of a vehicle;
analyze the image data and detecting a person to be followed that is within an image, wherein an image frame is selected from a plurality of image frames extracted from the image data and pixels of the image frame that include at least one pedestrian that is located within the surrounding environment of the vehicle are encapsulated into at least one bounding box to be analyzed to detect the person to be followed;
analyze the LiDAR data and detecting an obstacle that is located within a predetermined distance from the vehicle; and
execute a trajectory planning algorithm based on fused data associated with the detected person and the detected obstacle, including fusing pedestrian and obstacle detection results, wherein fusing the pedestrian and the obstacle detection results includes performing matching between the pedestrian and obstacle detection results and existing tracker data, wherein tracker data is updated for a matched detection and tracker that is above a first threshold and the fused data is output, and for a matched detection and tracker that is below a second threshold and the tracker is deleted as obsolete,
wherein the trajectory planning algorithm utilizes nonlinear model predictive control based on the fused data that is output to enable the vehicle to follow the person within the surrounding environment of the vehicle.