US 12,415,511 B2
System and method for target behavior prediction in advanced driving assist system (ADAS), autonomous driving (AD), or other applications
Kilsoo Kim, Hermosa Beach, CA (US); Jongmoo Choi, Gardena, CA (US); Shanmukha M. Bhumireddy, Torrance, CA (US); Emilio Aron Moyers Barrera, Bloomfield Hills, MI (US); Phillip Vu, Calabasas, CA (US); and Rishitha Kalakata, Torrance, CA (US)
Assigned to CANOO TECHNOLOGIES INC., Torrence, CA (US)
Filed by Canoo Technologies Inc., Torrance, CA (US)
Filed on Nov. 2, 2022, as Appl. No. 18/052,124.
Prior Publication US 2024/0140414 A1, May 2, 2024
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 50/16 (2020.01); B60W 60/00 (2020.01)
CPC B60W 30/0956 (2013.01) [B60W 30/09 (2013.01); B60W 50/16 (2013.01); B60W 60/001 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4046 (2020.02)] 24 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining sensor data associated with a target object at a host vehicle;
identifying relative positions of the target object with reference to the host vehicle over time;
generating polynomials associated with the target object over time based on the relative positions of the target object, wherein coefficients of each polynomial are based on a magnitude of a covariance of the relative positions of the target object used to generate the polynomial;
comparing, for at least one polynomial of the polynomials being generated, the magnitude of the covariance to a covariance activation threshold in order to determine whether the coefficients of the at least one polynomial are determined or set to zero;
generating a weighted combination of the polynomials for the target object, wherein the weighted combination is a representation of an estimated behavior of the target object;
determining whether a collision between the host vehicle and the target object is possible based on the weighted combination of the polynomials; and
in response to determining that the collision between the host vehicle and the target object is possible, initiating one or more corrective actions by the host vehicle.