公开(公告)号：US12071144B2

公开(公告)日：2024-08-27

申请号：US17139481

申请日：2020-12-31

申请人： Aurora Operations, Inc.

发明人： Tian Lan ,  Galen Clark Haynes ,  Alexander David Styler

IPC分类号： B60W50/00 ,  B60W30/00 ,  B60W30/095 ,  G05D1/00 ,  G06T7/20 ,  G06V20/58 ,  G08G1/16

CPC分类号： B60W50/0097 ,  B60W30/00 ,  B60W30/0953 ,  B60W30/0956 ,  G05D1/0088 ,  G05D1/0214 ,  G06T7/20 ,  G06V20/58 ,  G06V20/584 ,  G08G1/166 ,  B60W2554/00 ,  G06T2207/30241 ,  G06T2207/30261

摘要： Systems and methods for determining object motion and controlling autonomous vehicles are provided. In one example embodiment, a computing system includes processor(s) and one or more tangible, non-transitory, computer readable media that collectively store instructions that when executed by the processor(s) cause the computing system to perform operations. The operations include obtaining data associated with a first object and one or more second objects within a surrounding environment of an autonomous vehicle. The operations include determining an interaction between the first object and the one or more second objects based at least in part on the data. The operations include determining one or more predicted trajectories of the first object within the surrounding environment based at least in part on the interaction between the first object and the one or more second objects. The operations include outputting data indicative of the one or more predicted trajectories of the first object.

公开(公告)号：US20240270260A1

公开(公告)日：2024-08-15

申请号：US18626023

申请日：2024-04-03

申请人： Aurora Operations, Inc.

发明人： Yiming Gu ,  Galen Clark Haynes ,  Anh Tuan Hoang ,  Sumit Kumar ,  Micol Marchetti-Bowick

IPC分类号： B60W50/00 ,  G06N3/04

CPC分类号： B60W50/0097 ,  G06N3/04 ,  B60W2050/0028 ,  B60W2554/4041 ,  B60W2554/4042 ,  B60W2554/4043 ,  B60W2554/801 ,  B60W2554/802

摘要： Systems and methods for predicting interactions between objects and predicting a trajectory of an object are presented herein. A system can obtain object data associated with a first object and a second object. The object data can have position data and velocity data for the first object and the second object. Additionally, the system can process the obtained object data to generate a hybrid graph using a graph generator. The hybrid graph can have a first node indicative of the first object and a second node indicative of the second object. Moreover, the system can process, using an interaction prediction model, the generated hybrid graph to predict an interaction type between the first node and the second node. Furthermore, the system can process, using a graph neural network model, the predicted interaction type between the first node and the second node to predict a trajectory of the first object.