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公开(公告)号：US12221118B2
公开(公告)日：2025-02-11
申请号：US17013298
申请日：2020-09-04
Applicant: Waymo LLC
Inventor： Minfa Wang , Kai Ding , Haoyu Chen , Wei Chai , Maher Mneimneh
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing knowledge distillation for autonomous vehicles. One of the methods includes obtaining sensor data characterizing an environment, wherein the sensor data has been captured by one or more sensors on-board a vehicle in the environment; processing, for each of one or more surrounding agents in the environment, a network input generated from the sensor data using a neural network to generate an agent discomfort prediction that characterizes a level of discomfort of the agent; combining the one or more agent discomfort predictions to generate an aggregated discomfort score; and providing the aggregated discomfort score to a path planning system of the vehicle in order to generate a future path of the vehicle.
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公开(公告)号：US20240308551A1
公开(公告)日：2024-09-19
申请号：US18672812
申请日：2024-05-23
Applicant: Waymo LLC
Inventor： Azadeh Dinparastdjadid , Johan Engstrom , Haoyu Chen , Isaac Supeene , Menghui Wang
CPC classification number: B60W60/0027 , G07C5/0808 , B60W2554/4026 , B60W2554/4029 , B60W2554/404
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing a backward looking surprise metric for autonomously driven vehicles. One of the methods includes obtaining first data representing one or more previously predicted states of an agent along one or more predicted trajectories of the agent at a first time step. Second data representing one or more states of the agent at a subsequent time step is obtained. A surprise score is computed from a measure of a difference between the first data computed for the one or more predicted trajectories for the prior time step and the second data computed for the one or more predicted states for the subsequent time step.
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公开(公告)号：US20220073085A1
公开(公告)日：2022-03-10
申请号：US17013298
申请日：2020-09-04
Applicant: Waymo LLC
Inventor： Minfa Wang , Kai Ding , Haoyu Chen , Wei Chai , Maher Mneimneh
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing knowledge distillation for autonomous vehicles. One of the methods includes obtaining sensor data characterizing an environment, wherein the sensor data has been captured by one or more sensors on-board a vehicle in the environment; processing, for each of one or more surrounding agents in the environment, a network input generated from the sensor data using a neural network to generate an agent discomfort prediction that characterizes a level of discomfort of the agent; combining the one or more agent discomfort predictions to generate an aggregated discomfort score; and providing the aggregated discomfort score to a path planning system of the vehicle in order to generate a future path of the vehicle.
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公开(公告)号：US20220169278A1
公开(公告)日：2022-06-02
申请号：US17108626
申请日：2020-12-01
Applicant: Waymo LLC
Inventor： Khaled Refaat , Haoyu Chen , Wei Chai , Alisha Saxena
Abstract: Data representing a set of predicted trajectories and a planned trajectory for an autonomous vehicle is obtained. A predictability score for the planned trajectory can be determined based on a comparison of the planned trajectory to the set of predicted trajectories for the autonomous vehicle. The predictability score indicates a level of predictability of the planned trajectory. A determination can be made, based at least on the predictability score, whether to initiate travel with the autonomous vehicle along the planned trajectory. In response to determining to initiate travel with the autonomous vehicle along the planned trajectory, a control system can be directed to maneuver the autonomous vehicle along the planned trajectory.
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公开(公告)号：US12017686B1
公开(公告)日：2024-06-25
申请号：US17399418
申请日：2021-08-11
Applicant: Waymo LLC
Inventor： Azadeh Dinparastdjadid , Johan Engstrom , Haoyu Chen , Isaac Supeene , Menghui Wang
CPC classification number: B60W60/0027 , G07C5/0808 , B60W2554/4026 , B60W2554/4029 , B60W2554/404
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing a backward looking surprise metric for autonomously driven vehicles. One of the methods includes obtaining first data representing one or more previously predicted states of an agent along one or more predicted trajectories of the agent at a first time step. Second data representing one or more states of the agent at a subsequent time step is obtained. A surprise score is computed from a measure of a difference between the first data computed for the one or more predicted trajectories for the prior time step and the second data computed for the one or more predicted states for the subsequent time step.
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Patent Agency Ranking
公开(公告)号：US11977382B2
公开(公告)日：2024-05-07
申请号：US18197561
申请日：2023-05-15
Applicant: Waymo LLC
Inventor： Kai Ding , Minfa Wang , Haoyu Chen , Khaled Refaat , Stephane Ross , Wei Chai
CPC classification number: G05D1/0088 , G05D1/0214 , G06N3/08 , G05D2201/0213
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle. The high-priority agents can be identified based on a set of mutual importance scores in which each mutual importance score indicates an estimated mutual relevance between the vehicle and a different agent from a set of agents on planning decisions of the other. The mutual importance scores can be calculated based on importance scores assessed from the perspectives of both the vehicle and the agents.
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公开(公告)号：US20240278802A1
公开(公告)日：2024-08-22
申请号：US18393418
申请日：2023-12-21
Applicant: Waymo LLC
Inventor： Khaled Refaat , Haoyu Chen , Wei Chai , Alisha Saxena
IPC: B60W60/00 , G06F18/214 , G06F18/2415 , G06N3/08 , G06V20/56
CPC classification number: B60W60/001 , G06F18/214 , G06F18/2415 , G06N3/08 , G06V20/56
Abstract: Data representing a set of predicted trajectories and a planned trajectory for an autonomous vehicle is obtained. A predictability score for the planned trajectory can be determined based on a comparison of the planned trajectory to the set of predicted trajectories for the autonomous vehicle. The predictability score indicates a level of predictability of the planned trajectory. A determination can be made, based at least on the predictability score, whether to initiate travel with the autonomous vehicle along the planned trajectory. In response to determining to initiate travel with the autonomous vehicle along the planned trajectory, a control system can be directed to maneuver the autonomous vehicle along the planned trajectory.
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公开(公告)号：US11851081B2
公开(公告)日：2023-12-26
申请号：US17108626
申请日：2020-12-01
Applicant: Waymo LLC
Inventor： Khaled Refaat , Haoyu Chen , Wei Chai , Alisha Saxena
IPC: B60W60/00 , G06K9/62 , G06K9/00 , G06N3/08 , G06V20/56 , G06F18/214 , G06F18/2415
CPC classification number: B60W60/001 , G06F18/214 , G06F18/2415 , G06N3/08 , G06V20/56
Abstract: Data representing a set of predicted trajectories and a planned trajectory for an autonomous vehicle is obtained. A predictability score for the planned trajectory can be determined based on a comparison of the planned trajectory to the set of predicted trajectories for the autonomous vehicle. The predictability score indicates a level of predictability of the planned trajectory. A determination can be made, based at least on the predictability score, whether to initiate travel with the autonomous vehicle along the planned trajectory. In response to determining to initiate travel with the autonomous vehicle along the planned trajectory, a control system can be directed to maneuver the autonomous vehicle along the planned trajectory.
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公开(公告)号：US20230288929A1
公开(公告)日：2023-09-14
申请号：US18197561
申请日：2023-05-15
Applicant: Waymo LLC
Inventor： Kai Ding , Minfa Wang , Haoyu Chen , Khaled Refaat , Stephane Ross , Wei Chai
CPC classification number: G05D1/0088 , G05D1/0214 , G06N3/08 , G05D2201/0213
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle. The high-priority agents can be identified based on a set of mutual importance scores in which each mutual importance score indicates an estimated mutual relevance between the vehicle and a different agent from a set of agents on planning decisions of the other. The mutual importance scores can be calculated based on importance scores assessed from the perspectives of both the vehicle and the agents.
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公开(公告)号：US11687077B2
公开(公告)日：2023-06-27
申请号：US16987980
申请日：2020-08-07
Applicant: Waymo LLC
Inventor： Kai Ding , Minfa Wang , Haoyu Chen , Khaled Refaat , Stephane Ross , Wei Chai
CPC classification number: G05D1/0088 , G05D1/0214 , G06N3/08 , G05D2201/0213
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle. The high-priority agents can be identified based on a set of mutual importance scores in which each mutual importance score indicates an estimated mutual relevance between the vehicle and a different agent from a set of agents on planning decisions of the other. The mutual importance scores can be calculated based on importance scores assessed from the perspectives of both the vehicle and the agents.
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