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公开(公告)号：US20240300542A1
公开(公告)日：2024-09-12
申请号：US18600159
申请日：2024-03-08
申请人： Waymo LLC
发明人： Ari Seff , Rami Al-Rfou , Angelo Brian Cera , Nigamaa Nayakanti , Aurick Qikun Zhou , Mason Ng , Benjamin Sapp , Dian Chen , Khaled Refaat
CPC分类号： B60W60/0027 , B60W50/0097 , B60W2420/00 , B60W2554/4044
摘要： Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating trajectory predictions for one or more agents in an environment. In one aspect, a method comprises: obtaining scene context data characterizing a scene in an environment at a current time point and generating a respective predicted future trajectory for each of a plurality of agents in the scene at the current time point by sampling a sequence of discrete motion tokens that defines a joint future trajectory for the plurality of agents using a trajectory prediction neural network that is conditioned on the scene context data.
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公开(公告)号：US12071161B1
公开(公告)日：2024-08-27
申请号：US17858886
申请日：2022-07-06
申请人： Waymo LLC
发明人： Khaled Refaat , Stéphane Ross
CPC分类号： B60W60/0011 , B60W40/04 , B60W50/0097 , B60W60/0015 , B60W60/00274 , B60W2554/4045 , B60W2554/4046
摘要： 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：US11977382B2
公开(公告)日：2024-05-07
申请号：US18197561
申请日：2023-05-15
申请人： Waymo LLC
发明人： Kai Ding , Minfa Wang , Haoyu Chen , Khaled Refaat , Stephane Ross , Wei Chai
CPC分类号： G05D1/0088 , G05D1/0214 , G06N3/08 , G05D2201/0213
摘要： 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：US11938943B1
公开(公告)日：2024-03-26
申请号：US17487903
申请日：2021-09-28
申请人： Waymo LLC
发明人： Khaled Refaat , Stéphane Ross
IPC分类号： B60W40/00 , G06F18/211 , G06F18/23 , G06N3/08
CPC分类号： B60W40/00 , G06F18/211 , G06F18/23 , G06N3/08
摘要： 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：US11900224B2
公开(公告)日：2024-02-13
申请号：US16727724
申请日：2019-12-26
申请人： Waymo LLC
发明人： Khaled Refaat , Stephane Ross
CPC分类号： G06N20/00 , B60W50/0097 , B60W60/0027 , G05D1/0088 , G05D1/0221 , G05D1/0246 , G06N3/047 , G06N3/049 , B60W2554/40
摘要： 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.
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公开(公告)号：US11753041B2
公开(公告)日：2023-09-12
申请号：US17101842
申请日：2020-11-23
申请人： Waymo LLC
发明人： Khaled Refaat
IPC分类号： B60W60/00 , G01S17/58 , G01S17/931 , G01S13/58 , G01S13/931
CPC分类号： B60W60/0027 , G01S13/58 , G01S13/931 , G01S17/58 , G01S17/931 , B60W2420/52 , B60W2555/00
摘要： An autonomous vehicle includes sensor subsystem(s) that output a sensor signal. A perception subsystem (i) detects an agent in a vicinity of the autonomous vehicle and (ii) generates a motion signal that describes at least one of a past motion or a present motion of the agent. An intention prediction subsystem processes the sensor signal to generate an intention signal that describes at least one intended action of the agent. A behavior prediction subsystem processes the motion signal and the intention signal to generate a behavior prediction signal that describes at least one predicted behavior of the agent. A planner subsystem processes the behavior prediction signal to plan a driving decision for the autonomous vehicle.
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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
申请人： Waymo LLC
发明人： Kai Ding , Khaled Refaat , Stephane Ross
摘要： 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
申请人： Waymo LLC
发明人： Kai Ding , Khaled Refaat , Stephane Ross
IPC分类号： B60W30/095 , G05D1/02 , G05D1/00
摘要： 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：US20200159232A1
公开(公告)日：2020-05-21
申请号：US16196769
申请日：2018-11-20
申请人： Waymo LLC
发明人： Khaled Refaat , Stephane Ross
摘要： 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.
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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
申请人： Waymo LLC
发明人： Kai Ding , Khaled Refaat , Stephane Ross
IPC分类号： B60W30/095 , G05D1/00 , G05D1/02
摘要： 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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