US 12,216,474 B1
Vibrometry-based behavior prediction for autonomous vehicle applications
Nicholas Armstrong-Crews, Mountain View, CA (US); and Bryce Remesch, Hollis, NH (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on May 4, 2021, as Appl. No. 17/302,486.
Int. Cl. G08G 1/052 (2006.01); G05D 1/00 (2006.01); G06N 20/00 (2019.01); G08G 1/01 (2006.01)
CPC G05D 1/0221 (2013.01) [G05D 1/0255 (2013.01); G06N 20/00 (2019.01); G08G 1/0125 (2013.01); G08G 1/052 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
determining, by a sensing system of an autonomous vehicle (AV), a first spectral representation of vibrations associated with a first state of a movable object at a first measurement time and a second spectral representation of vibrations associated with a second state of the movable object at a second measurement time;
identifying a first reference frequency of the first spectral representation and a second reference frequency of the second spectral representation;
determining a value of an acceleration of the movable object based at least on the second reference frequency, the first reference frequency, and a duration between the second measurement time and the first measurement time;
predicting, based on the determined value of the acceleration, a motion change of the movable object; and
causing a driving path of the AV to be determined in view of the predicted motion change.