Determining future heading using wheel attitude

摘要

The technology of the present disclosure relates to a method of determining a future heading of an object. To that end, sensor data may be received that includes a bounding box 420 representing an object in the environment of the vehicle 100 and information identifying the location of sensor data points corresponding to the object. Areas 610 corresponding to the wheels of the object may be identified based on the dimensions of the bounding box. The attitude of the wheel can then be estimated based on the sensor data points having positions within the area. The estimate may then be used to determine the future heading of the object. [Selection diagram] Fig. 7