| CPC G06V 20/58 (2022.01) [B60W 40/04 (2013.01); B60W 60/001 (2020.02); G06T 7/248 (2017.01); G06V 10/764 (2022.01); B60W 2420/408 (2024.01); B60W 2520/10 (2013.01); B60W 2554/20 (2020.02); G06T 2207/10028 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/30252 (2013.01); G06V 2201/08 (2022.01)] | 20 Claims |
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1. A method controlling an ego vehicle in an environment, comprising:
determining, via a flow model of a parked vehicle recognition system, a flow between a first representation of the environment and a second representation of the environment, the first representation and the second representation being captured by one or more sensors associated with the ego vehicle;
determining, via a velocity model of the parked vehicle recognition system, a velocity of a vehicle in the environment based on the flow;
determining, via a parked vehicle classification model of the parked vehicle recognition system, the vehicle is parked based on the velocity of the vehicle and one or more of features associated with the vehicle and/or the environment, the one or more features being extracted from one or both of the first representation or the second representation of the environment via a feature extractor associated with the parked vehicle classification model;
planning a trajectory of the ego vehicle based on determining the vehicle is parked; and
controlling the ego vehicle to follow the trajectory based on the environment.
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