• Patent Title: LABELING LANE SEGMENTS FOR BEHAVIOR PREDICTION FOR AGENTS IN AN ENVIRONMENT
  • Application No.: US17083988
    Application Date: 2020-10-29
  • Publication No.: US20220135078A1
    Publication Date: 2022-05-05
  • Inventor: Khaled RefaatKai Ding
  • Applicant: Waymo LLC
  • Applicant Address: US CA Mountain View
  • Assignee: Waymo LLC
  • Current Assignee: Waymo LLC
  • Current Assignee Address: US CA Mountain View
  • Main IPC: B60W60/00
  • IPC: B60W60/00 G06N20/00 B60W40/04
LABELING LANE SEGMENTS FOR BEHAVIOR PREDICTION FOR AGENTS IN AN ENVIRONMENT
Abstract:
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating candidate future trajectories for agents. One of the methods includes obtaining scene data characterizing a scene in an environment at a current time point; for each of a plurality of lane segments, processing a model input comprising (i) features of the lane segment and (ii) features of the target agent using a machine learning model that is configured to process the model input to generate a respective score for the lane segment that represents a likelihood that the lane segment will be a first lane segment traversed by the target agent after the current time point; selecting, as a set of seed lane segments, a proper subset of the plurality of lane segments based on the respective scores; and generating a plurality of candidate future trajectories for the target agent.
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