公开(公告)号：US20240300542A1

公开(公告)日：2024-09-12

申请号：US18600159

申请日：2024-03-08

Applicant: Waymo LLC

Inventor： Ari Seff ,  Rami Al-Rfou ,  Angelo Brian Cera ,  Nigamaa Nayakanti ,  Aurick Qikun Zhou ,  Mason Ng ,  Benjamin Sapp ,  Dian Chen ,  Khaled Refaat

IPC: B60W60/00 ,  B60W50/00

CPC classification number: B60W60/0027 ,  B60W50/0097 ,  B60W2420/00 ,  B60W2554/4044

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating trajectory predictions for one or more agents in an environment. In one aspect, a method comprises: obtaining scene context data characterizing a scene in an environment at a current time point and generating a respective predicted future trajectory for each of a plurality of agents in the scene at the current time point by sampling a sequence of discrete motion tokens that defines a joint future trajectory for the plurality of agents using a trajectory prediction neural network that is conditioned on the scene context data.

公开(公告)号：US20250121857A1

公开(公告)日：2025-04-17

申请号：US18913074

申请日：2024-10-11

Applicant: Waymo LLC

Inventor： Bertrand Robert Douillard ,  Aurick Qikun Zhou ,  Rami Al-Rfou ,  Kratarth Goel ,  Benjamin Sapp ,  Andre Liang Cornman ,  Cheolho Park ,  Lingyun Liu

IPC: B60W60/00 ,  B60W50/00 ,  G06F30/15

Abstract: A method performed by one or more computers, the method comprising: obtaining scene context data characterizing a scene in an environment at a current time point, wherein the scene context data includes features of the scene in a scene-centric coordinate system; generating a scene-centric encoded representation of the scene in the environment by processing the scene context data using an encoder neural network; for each target agent: obtaining agent-specific features for the target agent, processing the agent-specific features for the target agent and the scene-centric encoded representation of the scene using a fusion neural network to generate a fused scene representation for the target agent, and processing the fused scene representation for the target agent using a decoder neural network to generate a trajectory prediction output for the target agent in an agent-centric coordinate system for the target agent.

公开(公告)号：US20230406360A1

公开(公告)日：2023-12-21

申请号：US18335915

申请日：2023-06-15

Applicant: Waymo LLC

Inventor： Rami Al-Rfou ,  Nigamaa Nayakanti ,  Kratarth Goel ,  Aurick Qikun Zhou ,  Benjamin Sapp ,  Khaled Refaat

IPC: B60W60/00 ,  B60W40/06 ,  B60W40/04 ,  G06N3/0455

CPC classification number: B60W60/0027 ,  B60W40/06 ,  B60W2556/10 ,  G06N3/0455 ,  B60W40/04

Abstract: Methods, systems, and apparatus for generating trajectory predictions for one or more target agents. In one aspect, a system comprises one or more computers configured to obtain scene context data characterizing a scene in an environment at a current time point, where the scene includes multiple agents that include a target agent and one or more context agents, and the scene context data includes respective context data for each of multiple different modalities of context data. The one or more computers then generate an encoded representation of the scene in the environment that includes one or more embeddings and process the encoded representation of the scene context data using a decoder neural network to generate a trajectory prediction output for the target agent that predicts a future trajectory of the target after the current time point.

公开(公告)号：US20250166366A1

公开(公告)日：2025-05-22

申请号：US18950830

申请日：2024-11-18

Applicant: Waymo LLC

Inventor： Yin Zhou ,  Jingwei Ji ,  Zhenpei Yang ,  Nathan Paul Harada ,  Kan Chen ,  Rami Al-Rfou

IPC: G06V10/82 ,  B60W60/00 ,  G06V10/80

Abstract: Methods, systems, and apparatus for predicting future trajectories of agents in an environment. In one aspect, a system comprises one or more computers configured to receive sensor data of an environment having one or more agents. The system decomposes the sensor data into a plurality of scene elements in the environment, and the system generates multiple tokens including a respective token for each respective scene element of the multiple scene elements in the environment. The system processes the multiple tokens using a decoder model to generate a respective predicted trajectory for the one or more agents in the environment.