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公开(公告)号：US20190122037A1
公开(公告)日：2019-04-25
申请号：US15791602
申请日：2017-10-24
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Kai Ding
IPC: G06K9/00 , B60W30/095 , G08G1/16 , G05D1/02 , G05D1/00
Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For instance, sensor data identifying an object in an environment of the vehicle may be received. A grid including a plurality of cells may be projected around the object. For each given one of the plurality of cells, a likelihood that the object will enter the given one within a period of time into the future is predicted. A contour is generated based on the predicted likelihoods. The vehicle is then controlled in the autonomous driving mode in order to avoid an area within the contour.
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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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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
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.
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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：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
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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Patent Agency Ranking
公开(公告)号：US20220291690A1
公开(公告)日：2022-09-15
申请号：US17199948
申请日：2021-03-12
Applicant: Waymo LLC
Inventor： Vishu Goyal , Kai Ding
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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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
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：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.
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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.
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公开(公告)号：US20200150665A1
公开(公告)日：2020-05-14
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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