公开(公告)号：US20220027193A1

公开(公告)日：2022-01-27

申请号：US16935057

申请日：2020-07-21

Applicant: Waymo LLC

Inventor： Tacettin Dogacan Guney ,  Kai Ding ,  Olivier Gravel Aubin

IPC: G06F9/48 ,  G06F9/50 ,  G06F9/38

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining a task schedule for generating prediction data for different agents. In one aspect, a method comprises receiving data that characterizes an environment in a vicinity of a vehicle at a current time step, the environment comprising a plurality of agents; receiving data that identifies high-priority agents for which respective data characterizing the agents must be generated at the current time step; identifying available computing resources at the current time step; processing the data that characterizes the environment using a complexity scoring model to determine a respective complexity score for each of the high-priority agents; and determining a schedule for the current time step that allocates the generation of the data characterizing the high-priority agents across the available computing resources based on the complexity scores.

公开(公告)号：US20210286985A1

公开(公告)日：2021-09-16

申请号：US17330511

申请日：2021-05-26

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.

公开(公告)号：US20210064044A1

公开(公告)日：2021-03-04

申请号：US16557938

申请日：2019-08-30

Applicant: Waymo LLC

Inventor： Khaled Refaat ,  Kai Ding ,  Stephane Ross

IPC: G05D1/02 ,  G01C21/34

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining respective importance scores for a plurality of agents in a vicinity of an autonomous vehicle navigating through an environment. The respective importance scores characterize a relative impact of each agent on planned trajectories generated by a planning subsystem of the autonomous vehicle. In one aspect, a method comprises providing different states of an environment as input to the planning subsystem and obtaining as output from the planning subsystem corresponding planned trajectories. Importance scores for the one or more agents that are in one state but not in the other are determined based on a measure of difference between the planned trajectories.