Tham khảo tài liệu 'computational intelligence in automotive applications episode 2 part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 270 J. Albus et al. Fig. 27. Moving object prediction process The algorithms are used to predict the future location of moving objects in the environment at longer time planning horizons on the order of tens of seconds into the future with plan steps at about one second intervals. The steps within the algorithm shown in Fig. 27 are For each vehicle on the road a the algorithm gets the current position and velocity of the vehicle by querying external programs sensors 3 . For each set of possible future actions Ỗ the algorithm creates a set of next possible positions and assigns an overall cost to each action based upon the cost incurred by performing the action and the cost incurred based upon the vehicle s proximity to static objects. An underlying cost model is developed to represent these costs. Based upon the costs determined in Step 2 the algorithm computes the probability for each action the vehicle may perform s . Predicted Vehicle Trajectories PVT are built for each vehicle which will be used to evaluate the possibility of collision with other vehicles in the environment. PVTs are a vector that indicates the possible paths that a vehicle will take within a predetermined number of time steps into the future. For each pair of PVTs n the algorithm checks if a possible collision will occur where PVTs intersect and assigns a cost if collision is expected. In this step the probabilities of the individual actions Ớ are recalculated incorporating the risk of collision with other moving objects. At the end of the main loop the future positions with the highest probabilities for each vehicle represent the most likely location of where the vehicles will be in the future. More information about the cost-based probabilistic prediction algorithms can be found in 35 . Industrial Automated Guided Vehicles Study of Next Generation Manufacturing Vehicles This effort called the Industrial Autonomous Vehicles IAV Project aims to provide industries with standards performance
