US 11,995,989 B2
Visualization of planned autonomous vehicle behavior
Brian Laurence Clark, San Francisco, CA (US); Michael Alan Huff, Emeryville, CA (US); Flavius Popescu, San Francisco, CA (US); Chad Lawrence Bettencourt, San Francisco, CA (US); Tejeswara Reddy Pogula, San Francisco, CA (US); Yuxi Zhang, San Mateo, CA (US); Jiajian Zhou, San Francisco, CA (US); Christophe Philippona, San Francisco, CA (US); Tal Benisty, San Francisco, CA (US); and Myung Jin Kim, San Mateo, CA (US)
Assigned to GM Cruise Holdings LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Mar. 31, 2020, as Appl. No. 16/835,451.
Prior Publication US 2021/0304608 A1, Sep. 30, 2021
Int. Cl. G08G 1/16 (2006.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); G08G 1/01 (2006.01); G08G 1/09 (2006.01)
CPC G08G 1/163 (2013.01) [B60W 50/14 (2013.01); B60W 60/0011 (2020.02); B60W 60/00272 (2020.02); G08G 1/0112 (2013.01); G08G 1/091 (2013.01); B60W 2050/146 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for visualizing planned behavior of an autonomous vehicle (AV), the method comprising:
receiving data describing a planned pathway of the AV along a roadway, the data describing the planned pathway comprising a plurality of velocities of the AV at a corresponding plurality of points along the planned pathway;
receiving object data describing a pedestrian in an environment of the AV, the object data comprising a location of the pedestrian;
determining a predicted pathway of the pedestrian based on the location, the predicted pathway entering the roadway and crossing the planned pathway of the AV at a cross point along the roadway;
based on the data describing the planned pathway of the AV and the predicted pathway of the pedestrian, determining that the pedestrian is predicted to reach the cross point before the AV;
classifying the pedestrian as an asserting object in response to determining that the pedestrian is predicted to reach the cross point before the AV; and
generating an image illustrating planned behavior of the AV and planned behavior of the pedestrian, the image comprising the planned pathway of the AV and the pedestrian in the environment of the AV, wherein the pedestrian in the image has a visual characteristic that indicates that the pedestrian is classified as an asserting object and that the pedestrian is predicted to reach the cross point before the AV.