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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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Patent Agency Ranking
公开(公告)号：US20230400859A1
公开(公告)日：2023-12-14
申请号：US18203230
申请日：2023-05-30
Applicant: Waymo LLC
Inventor： Vishu Goyal , Kai Ding
CPC classification number: G05D1/0214 , G05D1/0088 , G05D2201/0213
Abstract: Jaywalking behaviors of vulnerable road users (VRUs) such as cyclists or pedestrians can be predicted. Location data is obtained that identifies a location of a VRU within a vicinity of a vehicle. Environmental data is obtained that describes an environment of the VRU, where the environmental data identifies a set of environmental features in the environment of the VRU. The system can determine a nominal heading of the VRU, and generate a set of predictive inputs that indicate, for each of at least a subset of the set of environmental features, a physical relationship between the VRU and the environmental feature. The physical relationship can be determined with respect to the nominal heading of the VRU and the location of the VRU. The set of predictive inputs can be processed with a heading estimation model to generate a predicted heading offset (e.g., a target heading offset) for the VRU.
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公开(公告)号：US11841704B2
公开(公告)日：2023-12-12
申请号：US17089046
申请日：2020-11-04
Applicant: Waymo LLC
Inventor： Vishu Goyal , Stéphane Ross , Kai Ding
CPC classification number: G05D1/0088 , G05D1/0214 , G05D2201/0213
Abstract: To operate an autonomous vehicle, a rail agent is detected in a vicinity of the autonomous vehicle using a detection system. One or more tracks are determined on which the detected rail agent is possibly traveling, and possible paths for the rail agent are predicted based on the determined one or more tracks. One or more motion paths are determined for one or more probable paths from the possible paths, and a likelihood for each of the one or more probable paths is determined based on each motion plan. A path for the autonomous vehicle is then determined based on a most probable path associated with a highest likelihood for the rail agent, and the autonomous vehicle is operated using the determined path.
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公开(公告)号：US11698639B2
公开(公告)日：2023-07-11
申请号：US16892579
申请日：2020-06-04
Applicant: Waymo LLC
Inventor： Vishu Goyal , Kai Ding
CPC classification number: G05D1/0214 , G05D1/0088 , G05D2201/0213
Abstract: Jaywalking behaviors of vulnerable road users (VRUs) such as cyclists or pedestrians can be predicted. Location data is obtained that identifies a location of a VRU within a vicinity of a vehicle. Environmental data is obtained that describes an environment of the VRU, where the environmental data identifies a set of environmental features in the environment of the VRU. The system can determine a nominal heading of the VRU, and generate a set of predictive inputs that indicate, for each of at least a subset of the set of environmental features, a physical relationship between the VRU and the environmental feature. The physical relationship can be determined with respect to the nominal heading of the VRU and the location of the VRU. The set of predictive inputs can be processed with a heading estimation model to generate a predicted heading offset (e.g., a target heading offset) for the VRU.
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公开(公告)号：US20220371624A1
公开(公告)日：2022-11-24
申请号：US17325952
申请日：2021-05-20
Applicant: Waymo LLC
Inventor： Vishu Goyal , Shubham Gupta , Kai Ding
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that generates path prediction data for agents in the vicinity of an autonomous vehicle using one or more machine learning models. One of the methods includes identifying an agent in a vicinity of an autonomous vehicle navigating through an environment and determining that the agent is within a vicinity of a crossing zone across a roadway. The crossing zone can be a marked crossing zone or an unmarked crossing zone. For example, the crossing zone can be an unmarked crossing zone that has been identified based on previous observations of agents crossing the roadway. In response to determining that the agent is within a vicinity of a crossing zone: (i) features of the agent and of the crossing zone can be obtained; (ii) a first input that includes the features can be processed using a first machine learning model that is configured to generate a first crossing prediction that characterizes future crossing behavior of the agent, and (iii) a predicted path for the agent for crossing the roadway can be determined from at least the first crossing prediction.
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公开(公告)号：US20220137623A1
公开(公告)日：2022-05-05
申请号：US17089046
申请日：2020-11-04
Applicant: Waymo LLC
Inventor： Vishu Goyal , Stéphane Ross , Kai Ding
Abstract: To operate an autonomous vehicle, a rail agent is detected in a vicinity of the autonomous vehicle using a detection system. One or more tracks are determined on which the detected rail agent is possibly traveling, and possible paths for the rail agent are predicted based on the determined one or more tracks. One or more motion paths are determined for one or more probable paths from the possible paths, and a likelihood for each of the one or more probable paths is determined based on each motion plan. A path for the autonomous vehicle is then determined based on a most probable path associated with a highest likelihood for the rail agent, and the autonomous vehicle is operated using the determined path.
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