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公开(公告)号：US20230139578A1
公开(公告)日：2023-05-04
申请号：US17514766
申请日：2021-10-29
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Alisha Saxena , Anoosha Sagar , Kai Ding , Stéphane Ross , Xin Liu
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, that obtain scene features in an environment that includes an autonomous vehicle, a first target agent, and a second target agent, and determines whether the first target agent is an emergency vehicle that is active at a current time point. In response to determining that the first target agent is an emergency vehicle that is active at the current time point, an input is generated from the scene features. The input can characterize the scene and indicate that the first target agent is an emergency vehicle that is active at the current time point. Also in response, the input can be processed using a machine learning model that is configured to generate a trajectory prediction output for the second target agent that characterizes predicted future behavior of the second target agent after the current time point.
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公开(公告)号：US20230133419A1
公开(公告)日：2023-05-04
申请号：US17514713
申请日：2021-10-29
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Alisha Saxena , Kai Ding , Stéphane Ross , Xin Liu , Anoosha Sagar
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, that obtain scene features in an environment that includes an autonomous vehicle and a target agent at a current time point; determine whether the target agent is an emergency vehicle that is active at the current time point; generate from the scene features, an input (i) that includes the scene features and (ii) that indicates whether the target vehicle is an emergency vehicle that is active at the current time point; and process the input using a machine learning model that is configured to generate a behavior prediction output for the target agent that characterizes predicted future behavior of the target agent after the current time point.
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公开(公告)号：US20220036186A1
公开(公告)日：2022-02-03
申请号：US17390800
申请日：2021-07-30
Applicant: Waymo LLC
Inventor： Khaled Refaat , Kai Ding
Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for training a mixture of a plurality of actor-critic policies that is used to control an agent interacting with an environment to perform a task. Each actor-critic policy includes an actor policy and a critic policy. The training includes, for each of one or more transitions, determining a target Q value for the transition from (i) the reward in the transition, and (ii) an imagined return estimate generated by performing one or more iterations of a prediction process to generate one or more predicted future transitions.
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公开(公告)号：US20210341927A1
公开(公告)日：2021-11-04
申请号：US17191491
申请日：2021-03-03
Applicant: Waymo LLC
Inventor： Khaled Refaat , Kai Ding
Abstract: Aspects of the disclosure provide for controlling a vehicle in an autonomous driving mode. For instance, sensor data for an object as well as a plurality of predicted trajectories may be received. Each predicted trajectory may represent a plurality of possible future locations for the object. A grid including a plurality of cells, each being associated with a geographic area, may be generated. Probabilities that the object will enter the geographic area associated with each of the plurality of cells over a period of time into the future may be determined based on the sensor data in order to generate a heat map. One or more of the plurality of predicted trajectories may be compared to the heat map. The vehicle may be controlled in the autonomous driving mode based on the comparison.
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公开(公告)号：US11048253B2
公开(公告)日：2021-06-29
申请号：US16198130
申请日：2018-11-21
Applicant: Waymo LLC
Inventor： Kai Ding , Khaled Refaat , Stephane Ross
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 and, for only those agents which are high priority agents, generating data characterizing the agents using a first prediction model. In a first aspect, a system identifies multiple agents in an environment in a vicinity of a vehicle. The system generates a respective importance score for each of the agents by processing a feature representation of each agent using an importance scoring model. The importance score for an agent characterizes an estimated impact of the agent on planning decisions generated by a planning system of the vehicle which plans a future trajectory of the vehicle. The system identifies, as high-priority agents, a proper subset of the plurality of agents with the highest importance scores.
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Patent Agency Ranking
公开(公告)号：US10969789B2
公开(公告)日：2021-04-06
申请号：US16185787
申请日：2018-11-09
Applicant: Waymo LLC
Inventor： Khaled Refaat , Kai Ding
Abstract: Aspects of the disclosure provide for controlling a vehicle in an autonomous driving mode. For instance, sensor data for an object as well as a plurality of predicted trajectories may be received. Each predicted trajectory may represent a plurality of possible future locations for the object. A grid including a plurality of cells, each being associated with a geographic area, may be generated. Probabilities that the object will enter the geographic area associated with each of the plurality of cells over a period of time into the future may be determined based on the sensor data in order to generate a heat map. One or more of the plurality of predicted trajectories may be compared to the heat map. The vehicle may be controlled in the autonomous driving mode based on the comparison.
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公开(公告)号：US20200159215A1
公开(公告)日：2020-05-21
申请号：US16198130
申请日：2018-11-21
Applicant: Waymo LLC
Inventor： Kai Ding , Khaled Refaat , Stephane Ross
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 and, for only those agents which are high priority agents, generating data characterizing the agents using a first prediction model. In a first aspect, a system identifies multiple agents in an environment in a vicinity of a vehicle. The system generates a respective importance score for each of the agents by processing a feature representation of each agent using an importance scoring model. The importance score for an agent characterizes an estimated impact of the agent on planning decisions generated by a planning system of the vehicle which plans a future trajectory of the vehicle. The system identifies, as high-priority agents, a proper subset of the plurality of agents with the highest importance scores.
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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
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.
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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
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.
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公开(公告)号：US11853069B2
公开(公告)日：2023-12-26
申请号：US17199948
申请日：2021-03-12
Applicant: Waymo LLC
Inventor： Vishu Goyal , Kai Ding
CPC classification number: G05D1/0214 , B60W60/001 , G05B13/0265 , G05B13/048 , B60W2552/05 , B60W2552/15 , B60W2552/20 , B60W2552/30 , B60W2554/4029 , B60W2554/4041 , B60W2554/4042 , B60W2554/4043 , B60W2554/4045 , B60W2554/4046 , B60W2555/60 , G05D2201/0213
Abstract: The technology relates to controlling a vehicle in an autonomous driving mode in accordance with behavior predictions for other road users in the vehicle's vicinity. In particular, the vehicle's onboard computing system may predict whether another road user will perform a “continuing” lane driving operation, such as going straight in a turn-only lane. Sensor data from detected/observed objects in the vehicle's nearby environment may be evaluated in view of one or more possible behaviors for different types of objects. In addition, roadway features, in particular whether lane segments are connected in a roadgraph, are also evaluated to determine probabilities of whether other road users may make an improper continuing lane driving operation. This is used to generate more accurate behavior predictions, which the vehicle can use to take alternative (e.g., corrective) driving actions.
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