1. A computer-implemented method comprising:
identifying, by one or more computing devices, an object in a vehicle’s environment, the object having a heading and location;
generating, by the one or more computing devices, a set of possible actions for the object using map information describing the vehicle’s environment and the heading and location of the object;
generating, by the one or more computing devices, a set of possible future trajectories of the object based on the set of possible actions;
receiving, by the one or more computing devices, contextual information including a status of the detected object;
determining, by the one or more computing devices, a likelihood value of each trajectory of the set of possible future trajectories based on the contextual information;
determining, by the one or more computing devices, a final future trajectory based on the determined likelihood value for each trajectory of the set of possible future trajectories; and
maneuvering, by the one or more computing devices, the vehicle in order to avoid the final future trajectory and the object.
2. The method of claim 1, wherein determining the final future trajectory includes:
comparing the likelihood value for each trajectory of the set of possible future trajectories to a threshold value; and
discarding a trajectory from the set of trajectories when the likelihood value of that trajectory does not meet the threshold value, wherein the likelihood value of the discarded trajectory is not used to determine the final future trajectory.
3. The method of claim 2, wherein determining the final future trajectory includes:
when none of the trajectories of the set of possible future trajectories meet the threshold value, identifying a plurality of waypoints for each trajectory in the set of trajectories, wherein a waypoint includes at least one of a position, a velocity, and a timestamp;
determining a trajectory of the vehicle, wherein the trajectory of the vehicle includes a plurality of waypoints; and
comparing, at a same timestamp, each of the waypoints to a waypoint associated with a trajectory of the vehicle in order to determine the final future trajectory.
4. The method of claim 2, wherein determining the final future trajectory includes:
identifying a situational relationship between the object and the vehicle;
comparing the likelihood value of the trajectories remaining in the set of possible future trajectories to a second threshold different from the first threshold value, and
discarding a second trajectory from the trajectories remaining in the set of possible future trajectories when the likelihood value of that second trajectory does not meet the second threshold value, wherein the likelihood value of the discarded second trajectory is not used to determine the final future trajectory.
5. The method of claim 4, wherein after discarding the second trajectory, the remaining trajectories of the set of possible future trajectories are each identified as final future trajectories, such that maneuvering the vehicle includes avoiding each of the remaining trajectories of the set of possible future trajectories.
6. The method of claim 1, wherein determining the final future trajectory includes selecting a trajectory of the set of possible future trajectories with a highest likelihood value as the final future trajectory.
7. The method of claim 1, wherein generating the set of possible actions includes discarding an action from the set of possible actions for failing to comply with a model of possible actions for the object.
8. The method of claim 1, wherein generating the set of possible actions is further based on a past trajectory of the object.
9. The method of claim 1, wherein the contextual information further describes a status of a second object in the vehicle’s environment.
10. A system comprising one or more computing devices configured to:
identify an object in a vehicle’s environment, the object having a heading and location;
generate a set of possible actions for the object using map information describing the vehicle’s environment and the heading and location of the object;
generate a set of possible future trajectories of the object based on the set of possible actions;
receive contextual information including a status of the detected object;
determine a likelihood value of each trajectory of the set of possible future trajectories based on the contextual information;
determine a final future trajectory based on the determined likelihood value for each trajectory of the set of possible future trajectories; and
maneuver the vehicle in order to avoid the final future trajectory and the object.
11. The system of claim 10, wherein the one or more computing devices are further configured to determine the final future trajectory by:
comparing the likelihood value for each trajectory of the set of possible future trajectories to a threshold value; and
discarding a trajectory from the set of trajectories when the likelihood value of that trajectory does not meet the threshold value, wherein the likelihood value of the discarded trajectory is not used to determine the final future trajectory.
12. The system of claim 11, wherein the one or more computing devices are further configured to determine the final future trajectory by:
when none of the trajectories of the set of possible future trajectories meet the threshold value, identifying a plurality of waypoints for each trajectory in the set of trajectories, wherein a waypoint includes at least one of a position, a velocity, and a timestamp;
determining a trajectory of the vehicle, wherein the trajectory of the vehicle includes a plurality of waypoints; and
comparing, at a same timestamp, each of the waypoints for each trajectory to a waypoint of the trajectory of the vehicle to determine the final future trajectory.
13. The system of claim 11, wherein the one or more computing devices are further configured to determine the final future trajectory by:
identifying a situational relationship between the object and the vehicle;
comparing the likelihood value of the trajectories remaining in the set of possible future trajectories to a second threshold different from the first threshold value, and
discarding a second trajectory from the trajectories remaining in the set of possible future trajectories when the likelihood value of that second trajectory does not meet the second threshold value, wherein the likelihood value of the discarded second trajectory is not used to determine the final future trajectory.
14. The system of claim 13, wherein the one or more computing devices are further configured to, after discarding the second trajectory, identify the remaining trajectories of the set of possible future trajectories as each being final future trajectories, such that maneuvering the vehicle includes avoiding each of the remaining trajectories of the set of possible future trajectories.
15. The system of claim 10, wherein the one or more computing devices are further configured to determine the final future trajectory by selecting a trajectory of the set of possible future trajectories with a highest likelihood value as the final future trajectory.
16. The system of claim 10, wherein the one or more computing devices are further configured to determine the final future trajectory by discarding an action from the set of possible actions for failing to comply with a model of possible actions for the object.
17. The system of claim 10, wherein the one or more computing devices are further configured to generate the set of possible actions further based on a past trajectory of the object.
18. The system of claim 10, wherein the contextual information further describes a status of a second object in the vehicle’s environment.
19. The system of claim 10, wherein the vehicle is an autonomous vehicle.
20. A non-transitory computer-readable medium on which instructions are stored, the instructions, when executed by one or more processors cause the one or more processors to perform a method, the method comprising:
identifying an object in a vehicle’s environment, the object having a heading and location;
generating a set of possible actions for the object using map information describing the vehicle’s environment and the heading and location of the object;
generating a set of possible future trajectories of the object based on the set of possible actions;
receiving contextual information including a status of the detected object;
determining a likelihood value of each trajectory of the set of possible future trajectories based on the contextual information;
determining a final future trajectory based on the determined likelihood value for each trajectory of the set of possible future trajectories; and
maneuvering the vehicle in order to avoid the final future trajectory and the object.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. An optical pickup apparatus configured to apply a light flux to an information recording medium to be rotated and detect the light flux reflected from the information recording medium, comprising:
a first objective lens configured to focus the light flux on the information recording medium;
a second objective lens configured to focus the light flux on the information recording medium;
a lens holder including a first lens barrel having the first objective lens mounted on an end face thereof and a second lens barrel having the second objective lens mounted on an end face thereof;
an actuator unit having the lens holder mounted thereon; and
a housing having the actuator unit mounted thereon, the first objective lens and the second objective lens each being mounted on the lens holder such that a direction, in which wavefront of coma aberration on each lens face is most advanced in phase, is aligned with a radial direction of the information recording medium,
the actuator unit being mounted on the housing such that an optical axis of the first objective lens is inclined in the radial direction at an inclination angle of the optical axis thereof toward a recording surface of the information recording medium which angle is required to cancel coma aberration of the first objective lens to the recording surface.
2. An optical pickup apparatus configured to apply a light flux to an information recording medium to be rotated and detect the light flux reflected from the information recording medium, comprising:
a first objective lens configured to focus the light flux on the information recording medium;
a second objective lens configured to focus the light flux on the information recording medium;
a lens holder including a first lens barrel having the first objective lens mounted on an end face thereof and a second lens barrel having the second objective lens mounted on an end face thereof;
an actuator unit having the lens holder mounted thereon; and
a housing having the actuator unit mounted thereon,
the first objective lens and the second objective lens each being mounted on the lens holder such that a direction, in which wavefront of coma aberration on each lens face is most advanced in phase, is aligned with a radial direction of the information recording medium,
the first objective lens being mounted on the lens holder such that an optical axis of the first objective lens toward a recording surface of the information recording medium coincides with an optical axis of the first lens barrel,
the second objective lens being mounted on the lens holder such that an optical axis of the second objective lens is inclined in the radial direction at an angle corresponding to a difference (first inclination angle minus second inclination angle) between a first inclination angle and a second inclination angle, relative to an optical axis of the second lens barrel, the first inclination angle being an inclination angle of the optical axis of the first objective lens required to cancel coma aberration of the first objective lens to the recording surface, the second inclination angle being an inclination angle of the optical axis of the second objective lens toward the recording surface required to cancel coma aberration of the second objective lens to the recording surface (first inclination angle>second inclination angle),
the actuator unit being mounted on the housing such that the optical axis of the first objective lens is inclined in the radial direction at the first inclination angle.
3. An optical pickup apparatus configured to apply a light flux to an information recording medium to be rotated and detect the light flux reflected from the information recording medium, comprising:
a first objective lens configured to focus the light flux on the information recording medium;
a second objective lens configured to focus the light flux on the information recording medium;
a lens holder including a first lens barrel having the first objective lens mounted on an end face thereof and a second lens barrel having the second objective lens mounted on an end face thereof;
an actuator unit having the lens holder mounted thereon; and
a housing having the actuator unit mounted thereon,
the first objective lens and the second objective lens each being mounted on the lens holder such that a direction, in which wavefront of coma aberration on each lens face is most advanced in phase, is aligned with a direction of a center of rotation of the information recording medium,
the first objective lens being mounted on the lens holder such that an optical axis of the first objective lens toward a recording surface of the information recording medium coincides with an optical axis of the first lens barrel,
the second objective lens being mounted on the lens holder such that an optical axis of the second objective lens is inclined in the direction of the center of rotation at an angle corresponding to a difference (first inclination angle minus second inclination angle) between a first inclination angle and a second inclination angle relative to an optical axis of the second lens barrel, the first inclination angle being an inclination angle of the optical axis of the first objective lens required to cancel coma aberration of the first objective lens to the recording surface, the second inclination angle being an inclination angle of the optical axis of the second objective lens toward the recording surface required to cancel coma aberration of the second objective lens to the recording surface (first inclination angle>second inclination angle),
the actuator unit being mounted on the housing such that the optical axis of the first objective lens is inclined in a direction opposite to the direction of the center of rotation at the first inclination angle.
4. An optical pickup apparatus configured to apply a light flux to an information recording medium to be rotated and detect the light flux reflected from the information recording medium, comprising:
a first objective lens configured to focus the light flux on the information recording medium;
a second objective lens configured to focus the light flux on the information recording medium;
a lens holder including a first lens barrel having the first objective lens mounted on an end face thereof and a second lens barrel having the second objective lens mounted on an end face thereof;
an actuator unit having the lens holder mounted thereon; and
a housing having the actuator unit mounted thereon,
the first objective lens and the second objective lens each being mounted on the lens holder such that a direction, in which wavefront of coma aberration on each lens face is most advanced in phase, is aligned with a direction opposite to a direction of a center of rotation of the information recording medium,
the first objective lens being mounted on the lens holder such that an optical axis of the first objective lens toward a recording surface of the information recording medium coincides with an optical axis of the first lens barrel,
the second objective lens being mounted on the lens holder such that an optical axis of the second objective lens is inclined in the direction opposite to the direction of the center of rotation at an angle corresponding to a difference (first inclination angle minus second inclination angle) between a first inclination angle and a second inclination angle relative to an optical axis of a second lens barrel, the first inclination angle being an inclination angle of the optical axis of the first objective lens required to cancel the coma aberration of the first objective lens to the recording surface, the second inclination angle being an inclination angle of the optical axis of the second objective lens toward the recording surface required to cancel the coma aberration of the second objective lens to the recording surface (first inclination angle>second inclination angle),
the actuator unit being mounted on the housing such that the optical axis of the first objective lens is inclined in the direction of the center of rotation at the first inclination angle.
5. The optical pickup apparatus of claim 2, wherein
the first inclination angle is an angle obtained based on a mean value of the coma aberrations of a plurality of first objective lenses.
6. The optical pickup apparatus of claim 3, wherein
the first inclination angle is an angle obtained based on a mean value of the coma aberrations of a plurality of first objective lenses.
7. The optical pickup apparatus of claim 4, wherein
the first inclination angle is an angle obtained based on a mean value of the coma aberrations of a plurality of first objective lenses.
8. The optical pickup apparatus of claim 2, wherein
the second objective lens is mounted on the lens holder such that the optical axis of the second objective lens toward the recording surface of the information recording medium coincides with the optical axis of the second lens barrel.
9. The optical pickup apparatus of claim 3, wherein
the second objective lens is mounted on the lens holder such that the optical axis of the second objective lens toward the recording surface of the information recording medium coincides with the optical axis of the second lens barrel.
10. The optical pickup apparatus of claim 4, wherein
the second objective lens is mounted on the lens holder such that the optical axis of the second objective lens toward the recording surface of the information recording medium coincides with the optical axis of the second lens barrel.
11. The optical pickup apparatus of claim 2, wherein
the first objective lens includes an objective lens for BD standard or HD-DVD standard, and wherein
the second objective lens includes an objective lens for the DVDCD standard.
12. The optical pickup apparatus of claim 3, wherein
the first objective lens includes an objective lens for BD standard or HD-DVD standard, and wherein
the second objective lens includes an objective lens for the DVDCD standard.
13. The optical pickup apparatus of claim 4, wherein
the first objective lens includes an objective lens for BD standard or HD-DVD standard, and wherein
the second objective lens includes an objective lens for the DVDCD standard.
14. A method of manufacturing an optical pickup apparatus configured to a light flux to an information recording medium to be rotated and detect the light flux reflected from the information recording medium, the optical pickup apparatus including
a first objective lens configured to focus the light flux on the information recording medium,
a second objective lens configured to focus the light flux on the information recording medium,
a lens holder including a first lens barrel having the first objective lens mounted on an end face thereof and a second lens barrel having the second objective lens mounted on an end face thereof,
an actuator unit having the lens holder mounted thereon, and
a housing having the actuator unit mounted thereon,
the method comprising:
mounting the first objective lens and the second objective lens on the lens holder such that a direction, in which wavefront of coma aberration on each lens face is most advanced in phase, is aligned with a radial direction of the information recording medium;
mounting the first objective lens on the lens holder such that an optical axis of the first objective lens toward a recording surface of the information recording medium coincides with an optical axis of the first lens barrel;
mounting the second objective lens on the lens holder such that an optical axis of the second objective lens is inclined in the radial direction at an angle corresponding to a difference (first inclination angle minus second inclination angle) between a first inclination angle and a second inclination angle relative to an optical axis of a second lens barrel, the first inclination angle being an inclination angle of the optical axis of the first objective lens required to cancel the coma aberration of the first objective lens to the recording surface, the second inclination angle being an inclination angle of the optical axis of the second objective lens toward the recording surface required to cancel the coma aberration of the second objective lens to the recording surface (first inclination angle>second inclination angle); and
mounting the actuator unit on the housing such that the optical axis of the first objective lens is inclined in the radial direction by the first inclination angle in the radial direction.