Method and system for assessing whether a vehicle is likely to leave an off-road parking area
This document discloses system, method, and computer program product embodiments for assessing whether a vehicle that is positioned in an off-road parking area is exhibiting intent to enter the road. If the vehicle exhibits such intent, the system may forecast a trajectory for the vehicle. If the vehicle does not exhibit such intent, a trajectory forecast may not necessarily be required. The trajectory forecasts for vehicles that do exhibit such intent may then be used by an autonomous vehicle in motion planning operations.
1. A method of forecasting a trajectory of a vehicle, the method comprising:
detecting, by a first vehicle, that a second vehicle is at least partially positioned in an off-road parking location that is proximate to a road;
assessing, by the first vehicle, whether the second vehicle exhibits intent to leave the off-road parking location and enter the road by:
forecasting a plurality of candidate goal locations for the second vehicle,
filtering the plurality of candidate goal locations to yield a subset of likely goal locations, and
in response to at least one of the candidate goal locations intersecting with a lane of the road, determining that the second vehicle exhibits intent to leave the off-road parking location;
using the subset of likely goal locations to forecast a trajectory of the second vehicle; and
causing the vehicle to move based on the trajectory of the second vehicle,
wherein forecasting the plurality of candidate goal locations for the second vehicle comprises:
generating an object ray that represents a candidate path of travel for the second vehicle away from the off-road parking location, and
using a plurality of intersections, each of which is a location at which the object ray is in a lane of the road, to select the plurality of candidate goal locations, wherein using the plurality of intersections to select the plurality of candidate goal locations further comprises, for each lane in which the object ray is in the lane:
identifying any intersection at which the object ray meets a centerline of the lane, and
using either the intersection, or a specified distance from the intersection in a direction of travel the lane, as the candidate goal location.
2. The method of claim 1 further comprising:
planning an action of the first vehicle that is responsive to the forecasted trajectory of the second vehicle.
3. The method of claim 1 , wherein detecting that the second vehicle is at least partially positioned in the off-road parking location comprises:
measuring an area of overlap between a polygon representing a position of the second vehicle and a polygon associated with one or more lanes of the road that are proximate to the second vehicle; and
detecting that the second vehicle is at least partially positioned in the off-road parking location in response to the area of overlap being less than a threshold occupancy level.
4. The method of claim 1 , wherein:
assessing whether the second vehicle exhibits intent to leave the off-road parking location and enter the road further comprises identifying a motion action by either:
detecting that the second vehicle is taking or took the motion action, or
using a classifier to classify the second vehicle as not parked; and
determining that the second vehicle exhibits intent to leave the off-road parking location is also in response to identifying the motion action.
5. The method of claim 1 , wherein generating the object ray comprises generating a ray that:
starts at the off-road parking location; and
is oriented in a direction of a heading or a velocity of the second vehicle.
6. The method of claim 1 wherein, for any lane that splits into first and second successor lanes between the intersection and the specified distance from the intersection, selecting the plurality of candidate goal locations further comprises, for that lane:
identifying a first candidate position along a first centerline of the first successor lane, wherein the first candidate position is a specified distance from the intersection along the first centerline in the direction of travel of the lane;
identifying a second candidate position along a second centerline of the second successor lane, wherein the second candidate position is a specified distance from the intersection along the second centerline the direction of travel of the lane; and
using the first candidate position and the second candidate position as candidate goal locations.
7. The method of claim 1 , wherein:
generating the object ray comprises, in response to determining that the off-road parking location is a parallel parking location:
generating a reference ray that starts at the off-road parking location and is oriented in a direction of a heading or a velocity of the second vehicle,
generating a first object ray that is oriented in a direction that is rotated to the left of the reference ray, and
generating a second object ray that is oriented in a direction that is rotated to the right of the reference ray; and
using the plurality of intersections to select the plurality of candidate goal locations comprises using an intersection of the first object ray, the second object ray, or both with one or more lanes of the road.
8. The method of claim 1 , wherein filtering the plurality of candidate goal locations to yield a subset of likely goal locations comprises one or more of the following:
excluding one or more of the candidate goal locations having a position and a heading that are substantially similar to a position and a heading of at least one other of the candidate goal locations; or
excluding any of the candidate goal locations that are not physically reachable by the second vehicle.
9. A system for forecasting a trajectory of a vehicle, the system comprising:
a processor; and
a memory device containing programming instructions that are configured to cause the processor to:
receive, at a first vehicle that is on a road, data indicating that a second vehicle is at least partially positioned in an off-road parking location that is proximate to the road,
assess whether the second vehicle exhibits intent to leave the off-road parking location and enter the road by:
forecasting a plurality of candidate goal locations for the second vehicle;
filtering the plurality of candidate goal locations to yield a subset of likely goal locations; and
in response to at least one of the candidate goal locations intersecting with a lane of the road, determining that the second vehicle exhibits intent to leave the off-road parking location,
forecasting a trajectory of the second vehicle using the subset of likely goal locations, and
provide instructions to cause the vehicle to move based on the trajectory of the second vehicle,
wherein the instructions to forecast the plurality of candidate goal locations for the second vehicle comprise instructions to:
generate an object ray that starts at the off-road parking location, that is oriented in a direction of a heading or a velocity of the second vehicle, and that represents a candidate path of travel for the second vehicle away from the off-road parking location; and
use a plurality of intersections, each of which is a location at which the object ray is in a lane of the road, to select the plurality of candidate goal locations, wherein the instructions to use the plurality of intersections to select the plurality of candidate goal locations comprise instructions to, for each lane in which the object ray is in the lane:
identify any intersection at which the object ray meets a centerline of the lane; and
use either the intersection, or a specified distance from the intersection in a direction of travel the lane, as the candidate goal location.
10. The system of claim 9 , further comprising one or more sensors that are on-board the first vehicle and that are configured to receive the data.
11. The system of claim 9 , wherein the programming instructions are further configured to cause the processor to:
plan an action of the first vehicle that is responsive to the forecasted trajectory of the second vehicle.
12. The system of claim 9 wherein the programming instructions are further configured to cause the processor to:
measure an area of overlap between a polygon representing a position of the second vehicle and a polygon associated with one or more lanes of the road that are proximate to the second vehicle; and
generate the data indicating that the second vehicle is at least partially positioned in the off-road parking location in response to the area of overlap being less than a threshold occupancy level.
13. The system of claim 9 , wherein:
the instructions to assess whether the second vehicle exhibits intent to leave the off-road parking location and enter the road comprise instructions to identify a motion action in response to either:
detecting that the second vehicle is taking or took the motion action, or
a classifier classifying the second vehicle as not parked; and
the instructions to determine that the second vehicle exhibits intent to leave the off-road parking location is also in response to identifying the motion action.
14. The system of claim 9 , wherein the instructions to use the plurality of intersections to select the plurality of candidate goal locations further comprise instructions to, for any lane that splits into first and second successor lanes between the intersection and the specified distance from the intersection:
identify a first candidate position along a first centerline of the first successor lane, wherein the first candidate position is a specified distance from the intersection along the first centerline in the direction of travel of the lane;
identify a second candidate position along a second centerline of the second successor lane, wherein the second candidate position is a specified distance from the intersection along the second centerline the direction of travel of the lane; and
use the first candidate position and the second candidate position as candidate goal locations.
15. The system of claim 9 , wherein:
the instructions to generate the object ray comprise instructions to, when the off-road parking location is a parallel parking location:
generate a reference ray that starts at the off-road parking location and is oriented in a direction of a heading or a velocity of the second vehicle,
generate a first object ray that is oriented in a direction that is rotated to the left of the reference ray, and
generate a second object ray that is oriented in a direction that is rotated to the right of the reference ray; and
the instructions to use the plurality of intersections to select the plurality of candidate goal locations comprise instructions to use an intersection of the first object ray, the second object ray, or both with one or more lanes of the road.
16. A non-transitory computer-readable medium that stores instructions that are configured to, when executed by a processor, cause the processor to perform operations comprising:
receiving, at a first vehicle that is on a road, data indicating that a second vehicle is at least partially positioned in an off-road parking location that is proximate to the road;
assessing whether the second vehicle exhibits intent to leave the off-road parking location and enter the road by:
forecasting a plurality of candidate goal locations for the second vehicle,
filtering the plurality of candidate goal locations to yield a subset of likely goal locations, and
in response to at least one of the candidate goal locations intersecting with a lane of the road, determining that the second vehicle exhibits intent to leave the off-road parking location;
using the subset of likely goal locations to forecast a trajectory of the second vehicle; and
causing the vehicle to move based on the trajectory of the second vehicle,
wherein forecasting the plurality of candidate goal locations for the second vehicle comprises:
generating an object ray that represents a candidate path of travel for the second vehicle away from the off-road parking location, and
using a plurality of intersections, each of which is a location at which the object ray is in a lane of the road, to select the plurality of candidate goal locations, wherein using the plurality of intersections to select the plurality of candidate goal locations further comprises, for each lane in which the object ray is in the lane:
identifying any intersection at which the object ray meets a centerline of the lane, and
using either the intersection, or a specified distance from the intersection in a direction of travel the lane, as the candidate goal location.
17. The non-transitory computer-readable medium of claim 16 , wherein the instructions for detecting that the second vehicle is at least partially positioned in the off-road parking location further cause the processor to perform operations comprising:
measuring an area of overlap between a polygon representing a position of the second vehicle and a polygon associated with one or more lanes of the road that are proximate to the second vehicle; and
detecting that the second vehicle is at least partially positioned in the off-road parking location in response to the area of overlap being less than a threshold occupancy level.
18. The non-transitory computer-readable medium of claim 16 , wherein:
the instructions for assessing whether the second vehicle exhibits intent to leave the off-road parking location and enter the road further cause the processor to perform operations comprising identifying a motion action by either:
detecting that the second vehicle is taking or took the motion action, or
using a classifier to classify the second vehicle as not parked; and
the instructions further cause the process to perform operation comprising determining that the second vehicle exhibits intent to leave the off-road parking location is also in response to identifying the motion action.
19. The non-transitory computer-readable medium of claim 16 , wherein the instructions for generating the object ray further cause the processor to perform operations comprising generating a ray that:
starts at the off-road parking location; and
is oriented in a direction of a heading or a velocity of the second vehicle.
20. The non-transitory computer-readable medium of claim 16 , wherein the instructions for filtering the plurality of candidate goal locations to yield a subset of likely goal locations further cause the processor to perform operations comprising one or more of the following:
excluding one or more of the candidate goal locations having a position and a heading that are substantially similar to a position and a heading of at least one other of the candidate goal locations; or
excluding any of the candidate goal locations that are not physically reachable by the second vehicle.