公开(公告)号：US20240300542A1

公开(公告)日：2024-09-12

申请号：US18600159

申请日：2024-03-08

Applicant: Waymo LLC

Inventor： Ari Seff ,  Rami Al-Rfou ,  Angelo Brian Cera ,  Nigamaa Nayakanti ,  Aurick Qikun Zhou ,  Mason Ng ,  Benjamin Sapp ,  Dian Chen ,  Khaled Refaat

IPC: B60W60/00 ,  B60W50/00

CPC classification number: B60W60/0027 ,  B60W50/0097 ,  B60W2420/00 ,  B60W2554/4044

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating trajectory predictions for one or more agents in an environment. In one aspect, a method comprises: obtaining scene context data characterizing a scene in an environment at a current time point and generating a respective predicted future trajectory for each of a plurality of agents in the scene at the current time point by sampling a sequence of discrete motion tokens that defines a joint future trajectory for the plurality of agents using a trajectory prediction neural network that is conditioned on the scene context data.