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公开(公告)号：US12157501B2
公开(公告)日：2024-12-03
申请号：US17514766
申请日：2021-10-29
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Alisha Saxena , Anoosha Sagar , Kai Ding , Stéphane Ross , Xin Liu
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, that obtain scene features in an environment that includes an autonomous vehicle, a first target agent, and a second target agent, and determines whether the first target agent is an emergency vehicle that is active at a current time point. In response to determining that the first target agent is an emergency vehicle that is active at the current time point, an input is generated from the scene features. The input can characterize the scene and indicate that the first target agent is an emergency vehicle that is active at the current time point. Also in response, the input can be processed using a machine learning model that is configured to generate a trajectory prediction output for the second target agent that characterizes predicted future behavior of the second target agent after the current time point.
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公开(公告)号：US20230139578A1
公开(公告)日：2023-05-04
申请号：US17514766
申请日：2021-10-29
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Alisha Saxena , Anoosha Sagar , Kai Ding , Stéphane Ross , Xin Liu
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, that obtain scene features in an environment that includes an autonomous vehicle, a first target agent, and a second target agent, and determines whether the first target agent is an emergency vehicle that is active at a current time point. In response to determining that the first target agent is an emergency vehicle that is active at the current time point, an input is generated from the scene features. The input can characterize the scene and indicate that the first target agent is an emergency vehicle that is active at the current time point. Also in response, the input can be processed using a machine learning model that is configured to generate a trajectory prediction output for the second target agent that characterizes predicted future behavior of the second target agent after the current time point.
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公开(公告)号：US20230133419A1
公开(公告)日：2023-05-04
申请号：US17514713
申请日：2021-10-29
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Alisha Saxena , Kai Ding , Stéphane Ross , Xin Liu , Anoosha Sagar
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, that obtain scene features in an environment that includes an autonomous vehicle and a target agent at a current time point; determine whether the target agent is an emergency vehicle that is active at the current time point; generate from the scene features, an input (i) that includes the scene features and (ii) that indicates whether the target vehicle is an emergency vehicle that is active at the current time point; and process the input using a machine learning model that is configured to generate a behavior prediction output for the target agent that characterizes predicted future behavior of the target agent after the current time point.
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Patent Agency Ranking
公开(公告)号：US20220169278A1
公开(公告)日：2022-06-02
申请号：US17108626
申请日：2020-12-01
Applicant: Waymo LLC
Inventor： Khaled Refaat , Haoyu Chen , Wei Chai , Alisha Saxena
Abstract: Data representing a set of predicted trajectories and a planned trajectory for an autonomous vehicle is obtained. A predictability score for the planned trajectory can be determined based on a comparison of the planned trajectory to the set of predicted trajectories for the autonomous vehicle. The predictability score indicates a level of predictability of the planned trajectory. A determination can be made, based at least on the predictability score, whether to initiate travel with the autonomous vehicle along the planned trajectory. In response to determining to initiate travel with the autonomous vehicle along the planned trajectory, a control system can be directed to maneuver the autonomous vehicle along the planned trajectory.
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公开(公告)号：US20240278802A1
公开(公告)日：2024-08-22
申请号：US18393418
申请日：2023-12-21
Applicant: Waymo LLC
Inventor： Khaled Refaat , Haoyu Chen , Wei Chai , Alisha Saxena
IPC: B60W60/00 , G06F18/214 , G06F18/2415 , G06N3/08 , G06V20/56
CPC classification number: B60W60/001 , G06F18/214 , G06F18/2415 , G06N3/08 , G06V20/56
Abstract: Data representing a set of predicted trajectories and a planned trajectory for an autonomous vehicle is obtained. A predictability score for the planned trajectory can be determined based on a comparison of the planned trajectory to the set of predicted trajectories for the autonomous vehicle. The predictability score indicates a level of predictability of the planned trajectory. A determination can be made, based at least on the predictability score, whether to initiate travel with the autonomous vehicle along the planned trajectory. In response to determining to initiate travel with the autonomous vehicle along the planned trajectory, a control system can be directed to maneuver the autonomous vehicle along the planned trajectory.
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公开(公告)号：US11952014B2
公开(公告)日：2024-04-09
申请号：US17514713
申请日：2021-10-29
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Alisha Saxena , Kai Ding , Stéphane Ross , Xin Liu , Anoosha Sagar
CPC classification number: B60W60/0027 , B60W50/0097 , G05B13/0265 , B60W2554/4045 , B60W2555/60
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, that obtain scene features in an environment that includes an autonomous vehicle and a target agent at a current time point; determine whether the target agent is an emergency vehicle that is active at the current time point; generate from the scene features, an input (i) that includes the scene features and (ii) that indicates whether the target vehicle is an emergency vehicle that is active at the current time point; and process the input using a machine learning model that is configured to generate a behavior prediction output for the target agent that characterizes predicted future behavior of the target agent after the current time point.
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公开(公告)号：US20230417565A1
公开(公告)日：2023-12-28
申请号：US17849936
申请日：2022-06-27
Applicant: Waymo LLC
Inventor： Alisha Saxena , Cheng Zhou , Romain Thibaux , Ryan De Iaco
CPC classification number: G01C21/3492 , B60W60/0027 , B60W30/18163 , B60W2552/05 , B60W2552/10 , B60W2554/406
Abstract: Aspects of the disclosure provide for controlling an autonomous vehicle. For instance, one or more processors of one or more first systems of the autonomous vehicles may receive a signal indicating a predicted traffic stack for a lane in which the autonomous vehicle is currently traveling. In response to the received signal, costs of edges of a roadgraph between the autonomous vehicle and a location of the predicted traffic stack may be adjusted in order to encourage the autonomous vehicle to change lanes in response to the predicted traffic stack. A route may be generated to a destination based on at least one of the adjusted costs. The route may be provided to one or more second systems of the autonomous vehicle in order to control the autonomous vehicle according to the route.
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公开(公告)号：US11851081B2
公开(公告)日：2023-12-26
申请号：US17108626
申请日：2020-12-01
Applicant: Waymo LLC
Inventor： Khaled Refaat , Haoyu Chen , Wei Chai , Alisha Saxena
IPC: B60W60/00 , G06K9/62 , G06K9/00 , G06N3/08 , G06V20/56 , G06F18/214 , G06F18/2415
CPC classification number: B60W60/001 , G06F18/214 , G06F18/2415 , G06N3/08 , G06V20/56
Abstract: Data representing a set of predicted trajectories and a planned trajectory for an autonomous vehicle is obtained. A predictability score for the planned trajectory can be determined based on a comparison of the planned trajectory to the set of predicted trajectories for the autonomous vehicle. The predictability score indicates a level of predictability of the planned trajectory. A determination can be made, based at least on the predictability score, whether to initiate travel with the autonomous vehicle along the planned trajectory. In response to determining to initiate travel with the autonomous vehicle along the planned trajectory, a control system can be directed to maneuver the autonomous vehicle along the planned trajectory.
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