公开(公告)号：US11003189B2

公开(公告)日：2021-05-11

申请号：US16922798

申请日：2020-07-07

Applicant: Waymo LLC

Inventor： Khaled Refaat ,  Stephane Ross

IPC: G05D1/02 ,  G06N20/00 ,  G05D1/00 ,  G06N5/04

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating a representation of a trajectory of a target agent in an environment. In one aspect, the representation of the trajectory of the target agent in the environment is a concatenation of a plurality of channels, where each channel is represented as a two-dimensional array of data values. Each position in each channel corresponds to a respective spatial position in the environment, and corresponding positions in different channels correspond to the same spatial position in the environment. The channels include a time channel and a respective motion channel corresponding to each motion parameter in a predetermined set of motion parameters.

公开(公告)号：US11977382B2

公开(公告)日：2024-05-07

申请号：US18197561

申请日：2023-05-15

Applicant: Waymo LLC

Inventor： Kai Ding ,  Minfa Wang ,  Haoyu Chen ,  Khaled Refaat ,  Stephane Ross ,  Wei Chai

IPC: G05D1/02 ,  G05D1/00 ,  G06N3/08

CPC classification number: G05D1/0088 ,  G05D1/0214 ,  G06N3/08 ,  G05D2201/0213

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. The high-priority agents can be identified based on a set of mutual importance scores in which each mutual importance score indicates an estimated mutual relevance between the vehicle and a different agent from a set of agents on planning decisions of the other. The mutual importance scores can be calculated based on importance scores assessed from the perspectives of both the vehicle and the agents.

公开(公告)号：US11900224B2

公开(公告)日：2024-02-13

申请号：US16727724

申请日：2019-12-26

Applicant: Waymo LLC

Inventor： Khaled Refaat ,  Stephane Ross

IPC: G06N20/00 ,  G05D1/00 ,  G05D1/02 ,  G06N3/049 ,  B60W50/00 ,  B60W60/00 ,  G06N3/047

CPC classification number: G06N20/00 ,  B60W50/0097 ,  B60W60/0027 ,  G05D1/0088 ,  G05D1/0221 ,  G05D1/0246 ,  G06N3/047 ,  G06N3/049 ,  B60W2554/40

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating training data for training a machine learning model to perform trajectory prediction. One of the methods includes: obtaining a training input, the training input including (i) data characterizing an agent in an environment as of a first time and (ii) data characterizing a candidate trajectory of the agent in the environment for a first time period that is after the first time. A long-term label for the candidate trajectory that indicates whether the agent actually followed the candidate trajectory for the first time period is determined. A short-term label for the candidate trajectory that indicates whether the agent intended to follow the candidate trajectory is determined. A ground-truth probability for the candidate trajectory is determined. The training input is associated with the ground-truth probability for the candidate trajectory in the training data.

公开(公告)号：US20210286360A1

公开(公告)日：2021-09-16

申请号：US17333823

申请日：2021-05-28

Applicant: Waymo LLC

Inventor： Kai Ding ,  Khaled Refaat ,  Stephane Ross

IPC: G05D1/00 ,  G05D1/02 ,  G06N5/02

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.

公开(公告)号：US11034348B2

公开(公告)日：2021-06-15

申请号：US16264136

申请日：2019-01-31

Applicant: Waymo LLC

Inventor： Kai Ding ,  Khaled Refaat ,  Stephane Ross

IPC: B60W30/095 ,  G05D1/02 ,  G05D1/00

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. In one aspect, a method comprises processing an input that characterizes a trajectory of the vehicle in an environment using an importance scoring model to generate an output that defines a respective importance score for each of a plurality of agents in the environment in the vicinity of the vehicle. 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 high-priority agents are identified as a proper subset of the plurality of agents with the highest importance scores.

公开(公告)号：US20200159232A1

公开(公告)日：2020-05-21

申请号：US16196769

申请日：2018-11-20

Applicant: Waymo LLC

Inventor： Khaled Refaat ,  Stephane Ross

IPC: G05D1/02 ,  G06N20/00 ,  G06N5/04 ,  G05D1/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating a representation of a trajectory of a target agent in an environment. In one aspect, the representation of the trajectory of the target agent in the environment is a concatenation of a plurality of channels, where each channel is represented as a two-dimensional array of data values. Each position in each channel corresponds to a respective spatial position in the environment, and corresponding positions in different channels correspond to the same spatial position in the environment. The channels include a time channel and a respective motion channel corresponding to each motion parameter in a predetermined set of motion parameters.

公开(公告)号：US20200156632A1

公开(公告)日：2020-05-21

申请号：US16264136

申请日：2019-01-31

Applicant: Waymo LLC

Inventor： Kai Ding ,  Khaled Refaat ,  Stephane Ross

IPC: B60W30/095 ,  G05D1/00 ,  G05D1/02

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. In one aspect, a method comprises processing an input that characterizes a trajectory of the vehicle in an environment using an importance scoring model to generate an output that defines a respective importance score for each of a plurality of agents in the environment in the vicinity of the vehicle. 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 high-priority agents are identified as a proper subset of the plurality of agents with the highest importance scores.