公开(公告)号：US20240308551A1

公开(公告)日：2024-09-19

申请号：US18672812

申请日：2024-05-23

Applicant: Waymo LLC

Inventor： Azadeh Dinparastdjadid ,  Johan Engstrom ,  Haoyu Chen ,  Isaac Supeene ,  Menghui Wang

IPC: B60W60/00 ,  G07C5/08

CPC classification number: B60W60/0027 ,  G07C5/0808 ,  B60W2554/4026 ,  B60W2554/4029 ,  B60W2554/404

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing a backward looking surprise metric for autonomously driven vehicles. One of the methods includes obtaining first data representing one or more previously predicted states of an agent along one or more predicted trajectories of the agent at a first time step. Second data representing one or more states of the agent at a subsequent time step is obtained. A surprise score is computed from a measure of a difference between the first data computed for the one or more predicted trajectories for the prior time step and the second data computed for the one or more predicted states for the subsequent time step.

公开(公告)号：US20240199084A1

公开(公告)日：2024-06-20

申请号：US18544896

申请日：2023-12-19

Applicant: Waymo LLC

Inventor： Isaac John Supeene ,  Azadeh Dinparastdjadid ,  Johan Engstrom

IPC: B60W60/00 ,  B60W50/00 ,  G06N3/0475 ,  G06N7/01

CPC classification number: B60W60/00274 ,  B60W50/0097 ,  G06N3/0475 ,  G06N7/01 ,  B60W2554/4045 ,  B60W2556/10

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing enhanced surprise metrics for autonomously driven vehicles. One of the methods includes receiving data representing a predicted state of an agent at a particular time, data representing an actual state of the agent for the particular time, and computing a surprise metric for the actual state of the agent based on a measure of the residual information between the predicted state of the agent and the actual state of the agent.

公开(公告)号：US12017686B1

公开(公告)日：2024-06-25

申请号：US17399418

申请日：2021-08-11

Applicant: Waymo LLC

Inventor： Azadeh Dinparastdjadid ,  Johan Engstrom ,  Haoyu Chen ,  Isaac Supeene ,  Menghui Wang

IPC: B60W60/00 ,  G07C5/08

CPC classification number: B60W60/0027 ,  G07C5/0808 ,  B60W2554/4026 ,  B60W2554/4029 ,  B60W2554/404

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing a backward looking surprise metric for autonomously driven vehicles. One of the methods includes obtaining first data representing one or more previously predicted states of an agent along one or more predicted trajectories of the agent at a first time step. Second data representing one or more states of the agent at a subsequent time step is obtained. A surprise score is computed from a measure of a difference between the first data computed for the one or more predicted trajectories for the prior time step and the second data computed for the one or more predicted states for the subsequent time step.

公开(公告)号：US20240355199A1

公开(公告)日：2024-10-24

申请号：US18642336

申请日：2024-04-22

Applicant: Waymo LLC

Inventor： Johan Engstrom ,  Francesca Margherita Favaro ,  Azadeh Dinparastdjadid ,  Shuyuan Liu ,  John Michael Scanlon ,  Trent William Victor

IPC: G08G1/01 ,  G08G1/16

CPC classification number: G08G1/0133 ,  G08G1/0112 ,  G08G1/166

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for automatically designating traffic scenarios as safety-relevant traffic conflicts between agents in a driving environment. One of the methods includes receiving data representing a traffic scenario involving two agents; computing a safety-relevant metric for a first plurality of time points of the traffic scenario; computing a surprise metric for a second plurality of time points of the traffic scenario; determining that the surprise metric satisfies a surprise threshold within a threshold time window of the safety-relevant metric satisfying a safety-relevant threshold; and in response, designating the traffic scenario as a safety-relevant traffic conflict.

公开(公告)号：US20240051582A1

公开(公告)日：2024-02-15

申请号：US18233696

申请日：2023-08-14

Applicant: Waymo LLC

Inventor： Johan Engstrom ,  Shuyuan Liu ,  Azadeh Dinparastdjadid ,  Camelia Valentina Simoiu

IPC: B60W60/00 ,  B60W40/04

CPC classification number: B60W60/0027 ,  B60W40/04 ,  B60W2554/4046

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting agent response times. One of the methods includes continually updating, at each time step of a plurality of time steps, an accumulated measure of surprise for the agent due to the movements of another entity in the traffic environment. A distribution of previously predicted trajectories is obtained at a previous time step for the other entity in the environment. A measure of surprise is computed from the perspective of the agent. An accumulated measure of surprise is updated for the time step using the computed measure of surprise for the agent. If the accumulated measure of surprise crosses a threshold at a particular point in time, a predicted response time for the agent is generated based on the particular point in time that the accumulated measure of surprise crosses the threshold.