US 12,447,951 B2
Traffic object intent estimation
Mukhtar Maulimov, Blacksburg, VA (US); Thomas Stevens, Portland, OR (US); and Thomas Maslach, Canton, MI (US)
Assigned to TORC Robotics, Inc., Blacksburg, VA (US)
Filed by TORC Robotics, Inc., Blacksburg, VA (US)
Filed on May 4, 2023, as Appl. No. 18/312,485.
Prior Publication US 2024/0367646 A1, Nov. 7, 2024
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/14 (2006.01); B60W 30/18 (2012.01); B60W 50/00 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); B60W 30/146 (2013.01); B60W 30/18163 (2013.01); B60W 50/0097 (2013.01); B60W 60/0015 (2020.02); B60W 60/00274 (2020.02); B60W 2300/145 (2013.01); B60W 2552/53 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/80 (2020.02)] 16 Claims
OG exemplary drawing
 
1. A method comprising:
periodically monitoring, by a processor, lateral position and velocity of a vehicle within a predetermined distance from a lane line representing a boundary of a lane of an autonomous vehicle, the vehicle is moving in a same direction as the autonomous vehicle;
executing, by the processor, a computer model using the monitored lateral position and velocity of the vehicle, to predict a path and a velocity of the vehicle;
determining, by the processor, an intent of the vehicle i) to exit the lane of the autonomous vehicle, or ii) to enter into the lane of the autonomous vehicle, based at least in part on a lateral velocity of the vehicle, wherein the lateral velocity is determined based on the path and the velocity;
determining, by the processor, whether a predicted trajectory for the vehicle has a likelihood of collision with the autonomous vehicle within a time threshold, based on time to collision between the autonomous vehicle and the vehicle determined at least in part based on the path and the velocity of the vehicle;
in response to the vehicle having a threshold distance from the lane line and in response to a current trajectory of the autonomous vehicle having the likelihood of collision with the predicted trajectory of the vehicle satisfying a threshold, determining, by the processor, an alternative trajectory for the autonomous vehicle; and
controlling operation of the autonomous vehicle to travel according to the alternative trajectory.