STRUCTURE OF PROBABILISTIC OBJECT TRACKING AND FORECASTING Russian patent published in 2021 - IPC G08G1/01 G08G1/16 G05D1/00 G05D1/02 B60W30/08 B60W30/95 

FIELD: autonomous vehicles.

SUBSTANCE: method for tracking and forecasting environmental objects by an autonomous vehicle contains stages at which the first observation data is received from AV sensors, the first observation data is associated with the first environmental object by determining environmental objects within the gating area, and the environmental objects are users of the transport network for vehicles and are supported in the AV module. If the first environmental object is included in the mentioned environmental objects, the hypotheses for the first environmental object is determined, the corresponding probability of the hypothesis for each of the hypotheses is determined, the corresponding state for at least one hypothesis from the mentioned hypotheses is determined. The corresponding state contains the predicted positions of the first environmental object and, in response to the request, provides a hypothesis from the mentioned hypotheses based on the corresponding probability of the hypothesis for each of the mentioned hypotheses. The system for tracking and forecasting environmental objects by an autonomous vehicle contains a world model module.

EFFECT: increased security is achieved.

18 cl, 27 dwg, 2 tbl