公开(公告)号：US20240199084A1

公开(公告)日：2024-06-20

申请号：US18544896

申请日：2023-12-19

Applicant: Waymo LLC

Inventor： Isaac John Supeene ,  Azadeh Dinparastdjadid ,  Johan Engstrom

IPC: B60W60/00 ,  B60W50/00 ,  G06N3/0475 ,  G06N7/01

CPC classification number: B60W60/00274 ,  B60W50/0097 ,  G06N3/0475 ,  G06N7/01 ,  B60W2554/4045 ,  B60W2556/10

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing enhanced surprise metrics for autonomously driven vehicles. One of the methods includes receiving data representing a predicted state of an agent at a particular time, data representing an actual state of the agent for the particular time, and computing a surprise metric for the actual state of the agent based on a measure of the residual information between the predicted state of the agent and the actual state of the agent.