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.

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

IPC: G05D1/02 ,  G05D1/00

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.