US 12,240,445 B1
Object tracking based on temporal data attribute inferences
Scott M. Purdy, Lake Forest Park, WA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Jun. 22, 2022, as Appl. No. 17/846,780.
Int. Cl. B60W 30/00 (2006.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 40/04 (2006.01); G01S 13/931 (2020.01); G01S 17/00 (2020.01); G01S 17/08 (2006.01); G01S 17/58 (2006.01); G01S 17/894 (2020.01); G01S 17/931 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); B60W 40/04 (2013.01); G01S 13/931 (2013.01); G01S 17/08 (2013.01); G01S 17/58 (2013.01); G01S 17/894 (2020.01); G01S 17/931 (2020.01); B60W 2420/408 (2024.01); B60W 2554/4043 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/4045 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions that, when executed by the one or more processors, cause the system to perform operations comprising:
receiving, from a first sensor of a vehicle, first sensor data representing an object in an environment in which the vehicle is operating, wherein a movement of at least one of the object or the vehicle contributes to a distortion in a representation of the object;
determining, based at least in part on the first sensor data, a difference between the distortion in the representation of the object and an actual shape of the object from a perspective of the vehicle;
determining, based at least in part on the difference, a lateral instantaneous velocity component associated with the object, the lateral instantaneous velocity component perpendicular to a line of sight associated with the first sensor;
receiving, from a second sensor of the vehicle, second sensor data indicative of a longitudinal instantaneous velocity component, the longitudinal instantaneous velocity component parallel to the line of sight;
determining a predicted trajectory of the object based at least in part on the lateral instantaneous velocity component and the longitudinal instantaneous velocity component; and
controlling operation of the vehicle based at least in part on the predicted trajectory of the object.