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公开(公告)号：US10421453B1
公开(公告)日：2019-09-24
申请号：US15802820
申请日：2017-11-03
Applicant: Waymo LLC
Inventor： David Ian Franklin Ferguson , David Harrison Silver , Stéphane Ross , Nathaniel Fairfield , Ioan-Alexandru Sucan
IPC: B60W30/09 , B60W30/095
Abstract: Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.
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公开(公告)号：US09669827B1
公开(公告)日：2017-06-06
申请号：US14873647
申请日：2015-10-02
Applicant: Waymo LLC
Inventor： David I. Ferguson , David Harrison Silver , Stéphane Ross , Nathaniel Fairfield , Ioan-Alexandru Sucan
IPC: B60W30/09 , B60W30/095 , G05D1/00 , G05D1/02
CPC classification number: B60W30/09 , B60W30/0953 , B60W30/0956 , B60W30/18154 , B60W2550/10 , B60W2550/30 , B60W2600/00 , B60W2720/24 , G05D1/0088 , G05D1/0214
Abstract: Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.
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公开(公告)号：US12157501B2
公开(公告)日：2024-12-03
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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Patent Agency Ranking
公开(公告)号：US12071161B1
公开(公告)日：2024-08-27
申请号：US17858886
申请日：2022-07-06
Applicant: Waymo LLC
Inventor： Khaled Refaat , Stéphane Ross
CPC classification number: B60W60/0011 , B60W40/04 , B60W50/0097 , B60W60/0015 , B60W60/00274 , B60W2554/4045 , B60W2554/4046
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for intervention behavior prediction. One of the methods includes receiving data characterizing a scene that includes a first agent and a second agent in an environment. A confounder prediction input generated from the data is processed using a confounder prediction model. A plurality of predicted conditional probability distributions is generated, wherein each predicted conditional probability distribution is conditioned on: (i) a planned intervention by the second agent, and (ii) the confounder variable belonging to a corresponding confounder class. An intervention behavior prediction for the first agent is generated based on the plurality of the predicted conditional probability distributions and the confounder distribution, wherein the intervention behavior prediction includes a probability distribution over the plurality of the possible behaviors for the first agent in reaction to the second agent performing the planned intervention.
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公开(公告)号：US11938943B1
公开(公告)日：2024-03-26
申请号：US17487903
申请日：2021-09-28
Applicant: Waymo LLC
Inventor： Khaled Refaat , Stéphane Ross
IPC: B60W40/00 , G06F18/211 , G06F18/23 , G06N3/08
CPC classification number: B60W40/00 , G06F18/211 , G06F18/23 , G06N3/08
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing inputs using slice-based dynamic neural networks. One of the methods includes receiving a new input for processing by a neural network that includes a first conditional neural network layer that has a set of shared parameters and a respective set of slice parameters for each of a plurality of slices. One or more slices to which the new input belongs are identified. The new input is processed to generate a network output, including: receiving a layer input to the first conditional neural network layer; and processing the layer input using the set of shared parameters, the respective one or more sets of slice parameters for the identified one or more slices, but not the respective sets of slice parameters for any other slices to which the new input does not belong.
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公开(公告)号：US20230326335A1
公开(公告)日：2023-10-12
申请号：US17706063
申请日：2022-03-28
Applicant: Waymo LLC
Inventor： Kai Ding , Stéphane Ross , Chenjie Yang , Xiaoting Yin
IPC: G06N5/00 , B60W30/10 , G06N3/04 , B60W30/095 , G08G1/056
CPC classification number: G08G1/056 , B60W30/095 , B60W30/10 , G06N3/04 , G06N5/003 , B60W2555/60
Abstract: Aspects of the disclosure provide methods of modeling wrong-way driving of road users. For instance, log data including an observed trajectory of a first road user may be accessed. A first set of candidate lane segments for wrong-way driving may be identified from map information. A second set of candidate lane segments for not wrong-way driving may be identified from the map information. For each candidate lane segment in the first set and in the second set, a distance cost between the candidate lane segment and the observed trajectory may be determined. A candidate lane segment may be selected from at least one of the first set or the second set based on the determined distance costs. The selected candidate lane segment may be used to train a model to provide a likelihood of a second road user being engaged in wrong-way driving in a lane.
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公开(公告)号：US11709490B1
公开(公告)日：2023-07-25
申请号：US17161954
申请日：2021-01-29
Applicant: WAYMO LLC
Inventor： Stéphane Ross , David Ian Franklin Ferguson
CPC classification number: G05D1/0088 , G06N5/04 , G06N7/01 , G06N20/00
Abstract: As an example, data identifying characteristics of a road user as well as contextual information about the vehicle's environment is received from the vehicle's perception system. A prediction of the intent of the object including an action of a predetermined list of actions to be initiated by the road user and a point in time for initiation of the action is generated using the data. A prediction of the behavior of the road user for a predetermined period of time into the future indicating that the road user is not going to initiate the action during the predetermined period of time is generated using the data. When the prediction of the behavior indicates that the road user is not going to initiate the action during the predetermined period of time, the vehicle is maneuvered according to the prediction of the intent prior to the vehicle passing the object.
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公开(公告)号：US10935979B1
公开(公告)日：2021-03-02
申请号：US16664215
申请日：2019-10-25
Applicant: WAYMO LLC
Inventor： Stéphane Ross , David Ian Franklin Ferguson
Abstract: As an example, data identifying characteristics of a road user as well as contextual information about the vehicle's environment is received from the vehicle's perception system. A prediction of the intent of the object including an action of a predetermined list of actions to be initiated by the road user and a point in time for initiation of the action is generated using the data. A prediction of the behavior of the road user for a predetermined period of time into the future indicating that the road user is not going to initiate the action during the predetermined period of time is generated using the data. When the prediction of the behavior indicates that the road user is not going to initiate the action during the predetermined period of time, the vehicle is maneuvered according to the prediction of the intent prior to the vehicle passing the object.
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