公开(公告)号：US20250085115A1

公开(公告)日：2025-03-13

申请号：US18501362

申请日：2023-11-03

Applicant: TuSimple, Inc.

Inventor： Hao XIAO ,  Yiqian GAN ,  Ethan ZHANG ,  Xin YE ,  Yizhe ZHAO ,  Zhe HUANG ,  Lingting GE ,  Robert August ROSSI, JR.

IPC: G01C21/30

Abstract: A computer-implemented method of trajectory prediction includes obtaining a first cross-attention between a vectorized representation of a road map near a vehicle and information obtained from a rasterized representation of an environment near the vehicle by processing through a first cross-attention stage; obtaining a second cross-attention between a vectorized representation of a vehicle history and information obtained from the rasterized representation by processing through a second cross-attention stage; operating a scene encoder on the first cross-attention and the second cross-attention; operating a trajectory decoder on an output of the scene encoder; obtaining one or more trajectory predictions by performing one or more queries on the trajectory decoder.