| CPC B60W 60/00272 (2020.02) [B60W 60/00274 (2020.02); G06N 3/08 (2013.01); B60W 2552/10 (2020.02); B60W 2554/4046 (2020.02); B60W 2554/4049 (2020.02)] | 17 Claims |
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1. A vehicle system comprising:
one or more sensors configured to capture aspects of an environment; and
a computing device configured to:
receive information about the environment captured by the one or more sensors,
determine one or more structures within the environment based on the received information,
select a kernel from a plurality of kernels that correspond to various environments, the selected kernel is parameterized for predicting a vehicle trajectory based on the one or more structures determined within the environment,
perform a convolution of the selected kernel and an array defining the environment, wherein the convolution predicts a future trajectory of a vehicle within the environment, wherein the future trajectory of the vehicle defines one or more predicted future locations of the vehicle in the environment,
obtain a sensed vehicle trajectory of the vehicle,
compare the sensed vehicle trajectory of the vehicle with the predicted future trajectory of the vehicle, and
select, in response to the comparison indicating an inaccurate predicted future trajectory of the vehicle, a second kernel that is parameterized for predicting a vehicle trajectory, wherein the second kernel is based on the one or more structures determined within the environment and the comparison of the sensed vehicle trajectory of the vehicle with the predicted future trajectory of the vehicle.
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