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1.发明授权公开(公告)号：US12233916B2
公开(公告)日：2025-02-25
申请号：US18065031
申请日：2022-12-13
Applicant: FORD GLOBAL TECHNOLOGIES, LLC
Inventor： Randall Schur , Constantin Savtchenko
IPC: B60W60/00
Abstract: This document discloses system, method, and computer program product embodiments for operating a vehicle, comprising: using kinematic models to generate forecasted trajectories of an actor (the kinematic models being respectively associated with different actor types that are assigned to an actor detected in an environment of the vehicle); selecting a first kinematic model based on the forecasted trajectories and a kinematic state of the actor; using the first kinematic model to predict a first path for the actor; selecting a second kinematic model responsive to movement of the actor no longer being consistent with typical movement of an object of one of the different actor types that is associated with the first kinematic model; using the second kinematic model to predict a second path for the actor; and controlling operations of the vehicle based on the first and second paths.
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2.发明公开公开(公告)号：US20240253667A1
公开(公告)日：2024-08-01
申请号：US18160385
申请日：2023-01-27
Applicant: FORD GLOBAL TECHNOLOGIES, LLC
Inventor： Elena Corina Grigore , Andrew Hartnett , Jagjeet Singh , Constantin Savtchenko
CPC classification number: B60W60/0027 , B60W40/04 , B60W2554/80
Abstract: Systems and methods for planning a trajectory for a vehicle are disclosed. The methods include generating first predicted states of an object in an environment of the vehicle at one or more first time steps during a first prediction horizon using a machine learning model and sensor data about the environment. The first predicted states are used 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 where the one or more second time steps are after the one or more first time steps. A trajectory for the vehicle is generated using the first predicted states or the second predicted states of the object.
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3.发明授权公开(公告)号：US12024195B2
公开(公告)日：2024-07-02
申请号：US17336661
申请日：2021-06-02
Applicant: FORD GLOBAL TECHNOLOGIES, LLC
CPC classification number: B60W60/0011 , G05D1/0088 , G05D1/0214 , G05D1/0221 , B60W2420/403 , B60W2420/408 , G05D1/0202 , G05D1/0206
Abstract: Methods by which an autonomous vehicle may predict actions of other actors are disclosed. A vehicle will assign either a high priority rating or a low priority rating to each actor that it detects. The vehicle will then generate a forecast for each of the detected actors. Some of not all high priority actors will receive a high resolution forecast. Low priority actors, and optionally also some of the high priority actors, will receive a low resolution forecast. The system will the forecasts to predict actions for the actors. The autonomous vehicle will then use the predicted actions to determine its trajectory.
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公开(公告)号：US12195049B2
公开(公告)日：2025-01-14
申请号：US18068558
申请日：2022-12-20
Applicant: FORD GLOBAL TECHNOLOGIES, LLC
Inventor： Pietro Blandizzi , Randall Schur , Constantin Savtchenko
Abstract: This document discloses system, method, and computer program product embodiments for operating a robot. For example, the method includes: detecting an object in proximity to the robot; generating a path of travel for the object that is defined by a plurality of first data points representing different object locations in an area; generating cost curves respectively associated with the plurality of first data points; generating a polyline comprising a plurality of second data points associated with displacements of the cost curves from a particular location in the area; defining a predicted path of travel for the object based on the polyline; and using the predicted path of travel for the object to facilitate at least one autonomous operation of the robot.
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