US 12,240,500 B2
Method of and system for predicting a maneuver of an object
Sergey Dmitrievich Fedorov, Saratov (RU); Andrey Alekseevich Nedoluzhko, Moscow (RU); and Daniil Vladimirovich Melnichenko, Minsk (BY)
Assigned to Y.E. Hub Armenia LLC, Yerevan (AM)
Filed by Direct Cursus Technology L.L.C, Dubai (AE)
Filed on Feb. 9, 2024, as Appl. No. 18/437,881.
Application 18/437,881 is a continuation of application No. 17/587,641, filed on Jan. 28, 2022, granted, now 12,024,204.
Claims priority of application No. RU2021109878 (RU), filed on Apr. 9, 2021.
Prior Publication US 2024/0182080 A1, Jun. 6, 2024
Int. Cl. B60W 30/18 (2012.01); B60W 30/14 (2006.01); B60W 40/072 (2012.01); B60W 60/00 (2020.01); G01C 21/00 (2006.01)
CPC B60W 60/0027 (2020.02) [B60W 30/143 (2013.01); B60W 30/18163 (2013.01); B60W 40/072 (2013.01); G01C 21/3889 (2020.08); B60W 2552/53 (2020.02); B60W 2554/4044 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A method of predicting a maneuver of at least one object, the at least one object being in a vicinity of a Self-Driving Car (SDC), the SDC being communicatively coupled to an electronic device, the method being executable by the electronic device, the method comprising:
receiving, by the electronic device,
a section of a road map corresponding to surroundings of the SDC and the at least one object, the section of the road map including information about a plurality of road lanes;
generating, by the electronic device,
a plurality of predicted trajectories associated with the at least one object, each of the plurality of predicted trajectories including potential future location points of the at least one object on the section of the road map, the plurality of predicted trajectories being generated without consideration of the plurality of road lanes on the section of the road map;
for a given one of the plurality of predicted trajectories,
mapping, by the electronic device, the potential future location points associated with the given one of the plurality of predicted trajectories on the section of the road map in accordance with the information about the plurality of road lanes;
computing, by the electronic device, scores for each of the potential future location points associated with the given one of the plurality of predicted trajectories, the scores representing an association of a given potential future location point of the potential future location points with the plurality of road lanes at a future instance of time, wherein computing the scores comprises assigning a first predetermined score to the given potential future location point if the given potential future location point and a previous potential future location point are located on a same road lane of the plurality of road lanes and assigning a second predetermined score to the given potential future location point if the given potential future location point and the previous potential future location point are not located on the same road lane of the plurality of road lanes;
computing, by the electronic device, an aggregated score from the scores corresponding to the given potential future location point of the potential future location points associated with the given one of the plurality of predicted trajectories; and
based on the aggregated score, determining, by the electronic device, a predicted location within the plurality of road lanes of the at least one object at the future instance of time, and
based on the predicted location of the at least one object:
changing an acceleration of the SDC; or
changing a speed of the SDC; or
changing a direction of the SDC to change a road lane of the plurality of road lanes in which the SDC is currently moving; or
changing the direction of the SDC to take a turn.