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

Claim 7:
8. A method for predicting an action (at) of a vehicle, including
acquiring a sequence of images (Ft) of the scene dynamic seen by the vehicle (V), in particular in front of the vehicle (V),
obtaining at each time step (t) a visual features vector (vt) by applying a convolutional neural network, in particular dilated fully convolutional neural network, visual encoder to a corresponding acquired image (Ft),
obtaining a position of the vehicle (st) at the same time step (st),
supplying said visual features vector (vt) and position of the vehicle (st) at said time step (t) to a Recurrent Neural Network, in particular a LSTM network,
determining a set of control commands (C) representing maneuvers of the vehicle (V)
providing a plurality of branches of said Recurrent Neural Network each corresponding to a control command (ci) in said set of control commands (C),
when a control command (ci) is issued, selecting the corresponding branch of said Recurrent Neural Network and supplying said visual features vector (vt) and position of the vehicle (st) at said time step (t) to said corresponding branch,
operating said corresponding branch to said prediction of the action (at) of a vehicle.