公开(公告)号：US20210009166A1

公开(公告)日：2021-01-14

申请号：US16801933

申请日：2020-02-26

Applicant: UATC, LLC

Inventor： Lingyun Li ,  Bin Yang ,  Ming Liang ,  Wenyuan Zeng ,  Mengye Ren ,  Sean Segal ,  Raquel Urtasun

IPC: B60W60/00 ,  G06N3/08 ,  G06F16/903

Abstract: A computing system can be configured to input data that describes sensor data into an object detection model and receive, as an output of the object detection model, object detection data describing features of the plurality of the actors relative to the autonomous vehicle. The computing system can generate an input sequence that describes the object detection data. The computing system can analyze the input sequence using an interaction model to produce, as an output of the interaction model, an attention embedding with respect to the plurality of actors. The computing system can be configured to input the attention embedding into a recurrent model and determine respective trajectories for the plurality of actors based on motion forecast data received as an output of the recurrent model.

公开(公告)号：US11691650B2

公开(公告)日：2023-07-04

申请号：US16801933

申请日：2020-02-26

Applicant: UATC, LLC

Inventor： Lingyun Li ,  Bin Yang ,  Ming Liang ,  Wenyuan Zeng ,  Mengye Ren ,  Sean Segal ,  Raquel Urtasun

IPC: B60W60/00 ,  G06F16/903 ,  G06N3/08 ,  G06N3/044 ,  G06N3/045

CPC classification number: B60W60/00272 ,  B60W60/00274 ,  G06F16/903 ,  G06N3/044 ,  G06N3/045 ,  G06N3/08

Abstract: A computing system can be configured to input data that describes sensor data into an object detection model and receive, as an output of the object detection model, object detection data describing features of the plurality of the actors relative to the autonomous vehicle. The computing system can generate an input sequence that describes the object detection data. The computing system can analyze the input sequence using an interaction model to produce, as an output of the interaction model, an attention embedding with respect to the plurality of actors. The computing system can be configured to input the attention embedding into a recurrent model and determine respective trajectories for the plurality of actors based on motion forecast data received as an output of the recurrent model.

公开(公告)号：US20210146963A1

公开(公告)日：2021-05-20

申请号：US17010416

申请日：2020-09-02

Applicant: UATC, LLC

Inventor： Lingyun Li ,  Bin Yang ,  Wenyuan Zeng ,  Ming Liang ,  Mengye Ren ,  Sean Segal ,  Raquel Urtasun

IPC: B60W60/00 ,  G06N20/00

Abstract: A computing system can input first relative location embedding data into an interaction transformer model and receive, as an output of the interaction transformer model, motion forecast data for actors relative to a vehicle. The computing system can input the motion forecast data into a prediction model to receive respective trajectories for the actors for a current time step and respective projected trajectories for the actors for a subsequent time step. The computing system can generate second relative location embedding data based on the respective projected trajectories from the second time step. The computing system can produce second motion forecast data using the interaction transformer model based on the second relative location embedding. The computing system can determine second respective trajectories for the actors using the prediction model based on the second forecast data.

公开(公告)号：US11780472B2

公开(公告)日：2023-10-10

申请号：US17010416

申请日：2020-09-02

Applicant: UATC, LLC

Inventor： Lingyun Li ,  Bin Yang ,  Wenyuan Zeng ,  Ming Liang ,  Mengye Ren ,  Sean Segal ,  Raquel Urtasun

IPC: B60W60/00 ,  G06N20/00

CPC classification number: B60W60/00272 ,  B60W60/00276 ,  G06N20/00 ,  B60W2554/4049

Abstract: A computing system can input first relative location embedding data into an interaction transformer model and receive, as an output of the interaction transformer model, motion forecast data for actors relative to a vehicle. The computing system can input the motion forecast data into a prediction model to receive respective trajectories for the actors for a current time step and respective projected trajectories for the actors for a subsequent time step. The computing system can generate second relative location embedding data based on the respective projected trajectories from the second time step. The computing system can produce second motion forecast data using the interaction transformer model based on the second relative location embedding. The computing system can determine second respective trajectories for the actors using the prediction model based on the second forecast data.

公开(公告)号：US20240010241A1

公开(公告)日：2024-01-11

申请号：US18240771

申请日：2023-08-31

Applicant: UATC, LLC

Inventor： Lingyun Li ,  Bin Yang ,  Wenyuan Zeng ,  Ming Liang ,  Mengye Ren ,  Sean Segal ,  Raquel Urtasun Sotil

IPC: B60W60/00 ,  B60W50/00 ,  G06N3/044

CPC classification number: B60W60/00274 ,  B60W50/0097 ,  G06N3/044 ,  B60W2554/4045

Abstract: A computing system can input first relative location embedding data into an interaction transformer model and receive, as an output of the interaction transformer model, motion forecast data for actors relative to a vehicle. The computing system can input the motion forecast data into a prediction model to receive respective trajectories for the actors for a current time step and respective projected trajectories for the actors for a subsequent time step. The computing system can generate second relative location embedding data based on the respective projected trajectories from the second time step. The computing system can produce second motion forecast data using the interaction transformer model based on the second relative location embedding. The computing system can determine second respective trajectories for the actors using the prediction model based on the second forecast data.