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公开(公告)号：US20240278803A1
公开(公告)日：2024-08-22
申请号：US18423136
申请日：2024-01-25
Applicant: Waymo LLC
Inventor： Hang Zhao , Jiyang Gao , Chen Sun , Yi Shen , Yuning Chai , Cordelia Luise Schmid , Congcong Li , Benjamin Sapp , Dragomir Anguelov , Tian Lan , Yue Shen
CPC classification number: B60W60/001 , G06N3/02 , B60W2420/403 , B60W2554/4049
Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for predicting future trajectories for an agent in an environment. A system obtains scene context data characterizing the environment. The scene context data includes data that characterizes a trajectory of an agent in a vicinity of a vehicle in an environment up to a current time point. The system identifies a plurality of initial target locations in the environment. The system further generates, for each of a plurality of target locations that each corresponds to one of the initial target locations, a respective predicted likelihood score that represents a likelihood that the target location will be an intended final location for a future trajectory of the agent starting from the current time point. For each target location in a first subset of the target locations, the system generates a predicted future trajectory for the agent that is a prediction of the future trajectory of the agent given that the target location is the intended final location for the future trajectory. The system further selects, as likely future trajectories of the agent starting from the current time point, one or more of the predicted future trajectories.
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公开(公告)号：US11061406B2
公开(公告)日：2021-07-13
申请号：US16167007
申请日：2018-10-22
Applicant: Waymo LLC
Inventor： Junhua Mao , Congcong Li , Alper Ayvaci , Chen Sun , Kevin Murphy , Ruichi Yu
IPC: G05D1/02 , B60W30/095 , G01S17/93 , G05D1/00 , G06K9/00 , G06K9/62 , G01S17/931
Abstract: Aspects of the disclosure relate to training and using a model for identifying actions of objects. For instance, LIDAR sensor data frames including an object bounding box corresponding to an object as well as an action label for the bounding box may be received. Each sensor frame is associated with a timestamp and is sequenced with respect to other sensor frames. Each given sensor data frame may be projected into a camera image of the object based on the timestamp associated with the given sensor data frame in order to provide fused data. The model may be trained using the fused data such that the model is configured to, in response to receiving fused data, the model outputs an action label for each object bounding box of the fused data. This output may then be used to control a vehicle in an autonomous driving mode.
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公开(公告)号：US11987265B1
公开(公告)日：2024-05-21
申请号：US17387852
申请日：2021-07-28
Applicant: Waymo LLC
Inventor： Hang Zhao , Jiyang Gao , Chen Sun , Yi Shen , Yuning Chai , Cordelia Luise Schmid , Congcong Li , Benjamin Sapp , Dragomir Anguelov , Tian Lan , Yue Shen
CPC classification number: B60W60/001 , G06N3/02 , B60W2420/42 , B60W2554/4049
Abstract: A system obtains scene context data characterizing the environment. The scene context data includes data that characterizes a trajectory of an agent in a vicinity of a vehicle up to a current time point. The system identifies a plurality of initial target locations, and generates, for each of a plurality of target locations that each corresponds to one of the initial target locations, a respective predicted likelihood score that represents a likelihood that the target location will be an intended final location for a future trajectory of the agent. For each target location in a first subset of the target locations, the system generates a predicted future trajectory for the agent given that the target location is the intended final location for the future trajectory. The system further selects, as likely future trajectories of the agent, one or more of the predicted future trajectories.
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公开(公告)号：US20210191395A1
公开(公告)日：2021-06-24
申请号：US16723787
申请日：2019-12-20
Applicant: Waymo LLC
Inventor： Jiyang Gao , Junhua Mao , Yi Shen , Congcong Li , Chen Sun
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating vehicle intent predictions using a neural network. One of the methods includes obtaining an input characterizing one or more vehicles in an environment; generating, from the input, features of each of the vehicles; and for each of the vehicles: processing the features of the vehicle using each of a plurality of intent-specific neural networks, wherein each of the intent-specific neural networks corresponds to a respective intent from a set of intents, and wherein each intent-specific neural network is configured to process the features of the vehicle to generate an output for the corresponding intent.
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Patent Agency Ranking
公开(公告)号：US12217168B2
公开(公告)日：2025-02-04
申请号：US17099656
申请日：2020-11-16
Applicant: Waymo LLC
Inventor： Jiyang Gao , Yi Shen , Hang Zhao , Chen Sun
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using vectorized inputs.
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公开(公告)号：US20210294346A1
公开(公告)日：2021-09-23
申请号：US17343187
申请日：2021-06-09
Applicant: Waymo LLC
Inventor： Junhua Mao , Congcong Li , Alper Ayvaci , Chen Sun , Kevin Murphy , Ruichi Yu
IPC: G05D1/02 , G05D1/00 , G06K9/00 , G06K9/62 , B60W30/095 , G01S17/931
Abstract: Aspects of the disclosure relate to training and using a model for identifying actions of objects. For instance, LIDAR sensor data frames including an object bounding box corresponding to an object as well as an action label for the bounding box may be received. Each sensor frame is associated with a timestamp and is sequenced with respect to other sensor frames. Each given sensor data frame may be projected into a camera image of the object based on the timestamp associated with the given sensor data frame in order to provide fused data. The model may be trained using the fused data such that the model is configured to, in response to receiving fused data, the model outputs an action label for each object bounding box of the fused data. This output may then be used to control a vehicle in an autonomous driving mode.
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公开(公告)号：US20210150350A1
公开(公告)日：2021-05-20
申请号：US17099656
申请日：2020-11-16
Applicant: Waymo LLC
Inventor： Jiyang Gao , Yi Shen , Hang Zhao , Chen Sun
IPC: G06N3/08
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using vectorized inputs.
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公开(公告)号：US20240149906A1
公开(公告)日：2024-05-09
申请号：US17387852
申请日：2021-07-28
Applicant: Waymo LLC
Inventor： Hang Zhao , Jiyang Gao , Chen Sun , Yi Shen , Yuning Chai , Cordelia Luise Schmid , Congcong Li , Benjamin Sapp , Dragomir Anguelov , Tian Lan , Yue Shen
CPC classification number: B60W60/001 , G06N3/02 , B60W2420/42 , B60W2554/4049
Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for predicting future trajectories for an agent in an environment. A system obtains scene context data characterizing the environment. The scene context data includes data that characterizes a trajectory of an agent in a vicinity of a vehicle in an. environment up to a current time point. The system identifies a plurality of initial target locations in the environment. The system further generates, for each of a plurality of target locations that each corresponds to one of the initial target locations, a respective predicted likelihood score that represents a likelihood that the target location will be an intended final location for a future trajectory of the agent starting from the current time point. For each target location in a first subset of the target locations, the system generates a predicted future trajectory for the agent that is a prediction of the future trajectory of the agent given that the target location is the intended final location for the future trajectory. The system further selects, as likely future trajectories of the agent starting from the current time point, one or more of the predicted future trajectories.
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公开(公告)号：US11480963B2
公开(公告)日：2022-10-25
申请号：US16723787
申请日：2019-12-20
Applicant: Waymo LLC
Inventor： Jiyang Gao , Junhua Mao , Yi Shen , Congcong Li , Chen Sun
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating vehicle intent predictions using a neural network. One of the methods includes obtaining an input characterizing one or more vehicles in an environment; generating, from the input, features of each of the vehicles; and for each of the vehicles: processing the features of the vehicle using each of a plurality of intent-specific neural networks, wherein each of the intent-specific neural networks corresponds to a respective intent from a set of intents, and wherein each intent-specific neural network is configured to process the features of the vehicle to generate an output for the corresponding intent.
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