US 12,409,864 B2
Methods and systems for long-term trajectory prediction by extending a prediction horizon
Elena Corina Grigore, Redwood City, CA (US); Andrew Hartnett, West Hartford, CT (US); Jagjeet Singh, Pittsburgh, PA (US); and Constantin Savtchenko, Sewickley, PA (US)
Assigned to FORD GLOBAL TECHNOLOGIES, LLC, Dearborn, MI (US)
Filed by FORD GLOBAL TECHNOLOGIES, LLC, Dearborn, MI (US)
Filed on Jan. 27, 2023, as Appl. No. 18/160,385.
Prior Publication US 2024/0253667 A1, Aug. 1, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 40/04 (2006.01)
CPC B60W 60/0027 (2020.02) [B60W 40/04 (2013.01); B60W 2554/80 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for planning a trajectory for a vehicle, the method comprising, by a processor:
generating, using a machine learning model and sensor data about an environment, first predicted states of an object at one or more first time steps during a first prediction horizon;
using the first predicted states of the object as an input to a physical model to generate second predicted states of the object at one or more second time steps during a second prediction horizon, the one or more second time steps being after the one or more first time steps; generating, using the first predicted states or the second predicted states of the object, the trajectory for the vehicle; and
controlling the vehicle to traverse the environment using the trajectory generated.