Methods and systems for autonomous vehicle inference of routes for actors exhibiting unrecognized behavior
Systems and methods for operating a robot. The methods comprise: performing, by a processor, operations to detect an object that is moving; identifying, by the processor, detected behavior of the object that constitutes an unrecognized behavior; predicting, by the processor, future movement of the object based on a circle having a radius that is function of a velocity of the object; and controlling operations of the robot based on the predicting.
1. A method for operating a robot, comprising:
performing, by a processor, operations to detect an object that is moving;
identifying, by the processor, detected behavior of the object that constitutes an unrecognized behavior;
predicting, by the processor, future movement of the object based on a circle having a radius that is function of a velocity of the object; and
controlling operations of the robot based on the predicting;
wherein the radius represents a distance at which the object will merge into a route along which other objects are moving.
2. A method for operating a robot, comprising:
performing, by a processor, operations to detect an object that is moving;
identifying, by the processor, detected behavior of the object that constitutes an unrecognized behavior;
predicting, by the processor, future movement of the object based on a circle having a radius that is function of a velocity of the object; and
controlling operations of the robot based on the predicting;
wherein the predicting further comprises identifying one or more points on a circumference of the circle for consideration as candidate target points for the object.
3. The method according to claim 2 , wherein one or more points are identified based on a lane in which the object is traveling.
4. The method according to claim 3 , wherein the one or more points comprise points on the circumference of the circle that are intersected by a centerline of the lane.
5. The method according to claim 2 , wherein the predicting further comprises assigning a score to each of the candidate target points based on at least one of a heading of the object, a feasibility of a reference path from a location of the object to one of the candidate target points, a lateral acceleration of the object, a curvature of the circuit, and a minimum curvature that the robot can accommodate.
6. The method according to claim 5 , wherein the predicting further comprises selecting one of the candidate target points associated with the score with a lowest value of a plurality of scores respectively assigned to the candidate target points.
7. The method according to claim 6 , wherein the predicting further comprises generating a reference path from a location of the object to the candidate target point which was selected.
8. The method according to claim 6 , wherein the reference path comprises a curve or a spline generated using a Bernstein polynomial.
9. The method according to claim 1 , wherein the robot comprises an autonomous vehicle and the controlling operation of the robot comprises adjusting one or more driving operations of the autonomous vehicle.
10. A system, comprising:
a processor; and
a non-transitory computer-readable storage medium comprising programming instructions that are configured to cause the processor to implement a method for operating a robot, wherein the programming instructions comprise instructions to:
detect an object that is moving;
identify detected behavior of the object that constitutes an unrecognized behavior;
predict future movement of the object based on a circle having a radius that is function of a velocity of the object; and
control operations of the robot based on the predicting;
wherein the radius represents a distance at which the object will merge into a route along which other objects are moving.
11. A system, comprising:
a processor; and
a non-transitory computer-readable storage medium comprising programming instructions that are configured to cause the processor to implement a method for operating a robot, wherein the programming instructions comprise instructions to:
detect an object that is moving;
identify detected behavior of the object that constitutes an unrecognized behavior;
predict future movement of the object based on a circle having a radius that is function of a velocity of the object; and
control operations of the robot based on the predicting;
wherein the future movement of the object is predicted by identifying one or more points on a circumference of the circle for consideration as candidate target points for the object.
12. The system according to claim 11 , wherein one or more points are identified based on a lane in which the object is traveling.
13. The system according to claim 12 , wherein the one or more points comprise points on the circumference of the circle that are intersected by a centerline of the lane.
14. The system according to claim 11 , wherein the future movement of the object is predicted by further assigning a score to each of the candidate target points based on at least one of a heading of the object, a feasibility of a reference path from a location of the object to one of the candidate target points, a lateral acceleration of the object, a curvature of the circle, and a minimum curvature that the robot can accommodate.
15. The system according to claim 14 , wherein the future movement of the object is predicted by further selecting one of the candidate target points associated with the score with a lowest value of a plurality of scores respectively assigned to the candidate target points.
16. The system according to claim 15 , wherein the future movement of the object is predicted by further generating a reference path from a location of the object to the candidate target point which was selected.
17. The system according to claim 15 , wherein the reference path comprises a curve or a spline generated using a Bernstein polynomial.
18. A non-transitory computer-readable medium that stores instructions that, when executed by at least one computing device, will cause the at least one computing device to perform operations comprising:
detecting an object that is moving;
identifying detected behavior of the object that constitutes an unrecognized behavior;
predicting future movement of the object based on a circle having a radius that is function of a velocity of the object; and
controlling operations of the robot based on the predicting;
wherein (i) the radius represents a distance at which the object will merge into a route along which other objects are moving, and or (ii) the future movement of the object is predicted by identifying one or more points on a circumference of the circle for consideration as candidate target points for the object.