Cross-traffic detection using linear interpolation

The patent segments the trajectory prediction problem by dividing the road into multiple sections and using separate linear models for each section. Instead of applying a single complex polynomial model to the entire trajectory, the system breaks down the path into manageable segments, each handled by simpler linear interpolation calculations. This segmentation maintains prediction accuracy while significantly reducing computational complexity and memory requirements.

The patent uses simple linear interpolation models that are computationally inexpensive and can be quickly calculated and discarded. Rather than maintaining complex polynomial models that require substantial computational resources and memory storage, the system employs lightweight linear models that can be rapidly computed for each trajectory segment and then discarded, reducing both computational overhead and memory usage.

The patent segments the trajectory data storage by dividing the path into multiple smaller sections, each requiring minimal memory to store linear model parameters. Instead of storing large datasets required for polynomial fitting, the system stores compact linear model parameters for each segment, dramatically reducing memory requirements while maintaining the ability to accurately predict vehicle trajectories.

The patent employs lightweight linear interpolation models that require minimal memory storage. These simple models use only a few parameters per trajectory segment compared to the extensive data requirements of polynomial models. The computational simplicity allows the system to maintain accurate predictions with significantly reduced memory footprint.

The patent performs preliminary actions by establishing a reference path using linear interpolation between known road geometry points before attempting to estimate vehicle heading. This preliminary path establishment provides an accurate geometric framework that guides subsequent heading calculations, ensuring accuracy even on curved roads or when initial estimates are erroneous. The system prepares the reference trajectory in advance to guide the heading estimation process.

The patent introduces a linearly-interpolated reference path as an intermediary between the raw vehicle position data and the final heading estimation. This intermediary reference path, derived from known road geometry, mediates the heading calculation process by providing an accurate geometric baseline. The vehicle's actual heading is then determined relative to this intermediary reference, improving accuracy on curved roads and correcting erroneous initial estimates.