公开(公告)号：US12139172B2

公开(公告)日：2024-11-12

申请号：US17316625

申请日：2021-05-10

Applicant: Waymo LLC

Inventor： Vishu Goyal ,  Kai Ding ,  Yang Wang

IPC: B60W60/00 ,  G05D1/00 ,  G06N5/02 ,  G06N20/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting near-curb driving behavior. One of the methods includes obtaining agent trajectory data for an agent in an environment, the agent trajectory data comprising a current location and current values for a predetermined set of motion parameters of the agent; processing a model input generated from the agent trajectory data using a trained machine learning model to generate a model output comprising a prediction of whether the agent will exhibit near-curb driving behavior within a predetermined timeframe, wherein an agent exhibits near-curb driving behavior when the agent operates within a particular distance of an edge of a road in the environment; and using the prediction to generate a planned path for a vehicle in the environment.

公开(公告)号：US20220355824A1

公开(公告)日：2022-11-10

申请号：US17316625

申请日：2021-05-10

Applicant: Waymo LLC

Inventor： Vishu Goyal ,  Kai Ding ,  Yang Wang

IPC: B60W60/00 ,  G06N20/00 ,  G06N5/02 ,  G05D1/02

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting near-curb driving behavior. One of the methods includes obtaining agent trajectory data for an agent in an environment, the agent trajectory data comprising a current location and current values for a predetermined set of motion parameters of the agent; processing a model input generated from the agent trajectory data using a trained machine learning model to generate a model output comprising a prediction of whether the agent will exhibit near-curb driving behavior within a predetermined timeframe, wherein an agent exhibits near-curb driving behavior when the agent operates within a particular distance of an edge of a road in the environment; and using the prediction to generate a planned path for a vehicle in the environment.