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

IPC: G01C22/00 ,  B60W50/00 ,  G06F18/25 ,  G06N3/04 ,  G06N20/00

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.

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

IPC: B60W50/00 ,  G06N20/00 ,  G06N3/04 ,  G06K9/62

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.

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

IPC: G05D1/02 ,  G05D1/00 ,  G06N3/08

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.

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

IPC: G05D1/00 ,  G06N3/08 ,  G05D1/02

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.

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

IPC: G05D1/02 ,  G05D1/00 ,  G06N3/08

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.