公开(公告)号：US12195013B2

公开(公告)日：2025-01-14

申请号：US17691058

申请日：2022-03-09

Applicant: Waymo LLC

Inventor： Scott Morgan Ettinger ,  Dragomir Anguelov

IPC: B60W50/00 ,  B60W60/00 ,  G06N20/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for evaluating a behavior prediction system.

公开(公告)号：US20230280753A1

公开(公告)日：2023-09-07

申请号：US18118696

申请日：2023-03-07

Applicant: Waymo LLC

Inventor： Benjamin James Caine ,  Khaled Refaat ,  Benjamin Sapp ,  Scott Morgan Ettinger ,  Wei Chai ,  Rebecca Dawn Roelofs ,  Liting Sun

IPC: G05D1/02 ,  G06V20/54 ,  G06V10/82 ,  G06V10/774

CPC classification number: G05D1/0221 ,  G06V20/54 ,  G06V10/82 ,  G06V10/774

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 a data set comprising multiple training examples. The training examples include scene data comprising respective agent data for multiple agents and a ground truth trajectory for a target agent that represents ground truth motion of the target agent after a corresponding time point. The one or more computers obtain data identifying one or more of the multiple agents as non-causal agents for each training example. A non-causal agent is an agent whose states do not cause the ground truth trajectory for the target agent to change. The one or more computers generate a respective modified training example from each of the multiple training examples.

公开(公告)号：US20220289209A1

公开(公告)日：2022-09-15

申请号：US17691058

申请日：2022-03-09

Applicant: Waymo LLC

Inventor： Scott Morgan Ettinger ,  Dragomir Anguelov

IPC: B60W50/00 ,  G06N20/00 ,  B60W60/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for evaluating a behavior prediction system.

公开(公告)号：US20220155096A1

公开(公告)日：2022-05-19

申请号：US17527676

申请日：2021-11-16

Applicant: Waymo LLC

Inventor： Jinkyu Kim ,  Reza Mahjourian ,  Scott Morgan Ettinger ,  Brandyn Allen White ,  Benjamin Sapp

IPC: G01C21/00 ,  G06N3/04 ,  G06N3/08

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for generating a prediction that characterizes an environment. The system obtains an input including data characterizing observed trajectories one or more agents and data characterizing one or more map features identified in a map of the environment. The system generates, from the input, an encoder input that comprises representations for each of a plurality of points in a top-down representation of the environment. The system processes the encoder input using a point cloud encoder neural network to generate a global feature map of the environment, and processes a prediction input including the global feature map using a predictor neural network to generate a prediction output characterizing the environment.