公开(公告)号：US20240157979A1

公开(公告)日：2024-05-16

申请号：US18511710

申请日：2023-11-16

Applicant: Waymo LLC

Inventor： Chiyu Jiang ,  Andre Liang Cornman ,  Cheolho Park ,  Benjamin Sapp ,  Yin Zhou ,  Dragomir Anguelov

IPC: B60W60/00 ,  B60W50/00 ,  B60W50/06

CPC classification number: B60W60/00276 ,  B60W50/0097 ,  B60W50/06 ,  B60W2552/20 ,  B60W2554/4044 ,  B60W2556/10

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating trajectory predictions for one or more target agents, e.g., a vehicle, a cyclist, or a pedestrian, in an environment. In one aspect, one of the methods include: obtaining scene context data characterizing a scene at a current time point in an environment that includes multiple target agents; generating, from the scene context data, an encoded representation of the scene in the environment; and generating, by a diffusion model based on the encoded representation, a respective trajectory prediction output that predicts a respective future trajectory for each of the multiple target agents after the current time point.

公开(公告)号：US20240367685A1

公开(公告)日：2024-11-07

申请号：US18142429

申请日：2023-05-02

Applicant: Waymo LLC

Inventor： Wilson Zhao ,  Chiyu Jiang

IPC: B60W60/00 ,  G06N3/08 ,  G06V10/764 ,  G06V10/82 ,  G06V20/58

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for performing rare example mining in driving log data. In one aspect, a method includes obtaining a sensor input; processing the sensor input using an encoder neural network to generate one or more feature vectors for the sensor input; processing each of the one or more feature vectors using a density estimation model to generate a density score for the feature vector; and generating a rareness score for each of the one or more feature vectors from the density score. For example, the rareness score can represent a degree to which a classification of an object depicted in the sensor input is rare relative to other objects. As another example, the rareness score can represent a degree to which a predicted behavior of an agent depicted in the sensor input is rare relative to other objects.

公开(公告)号：US20240370695A1

公开(公告)日：2024-11-07

申请号：US18142437

申请日：2023-05-02

Applicant: Waymo LLC

Inventor： Wilson Zhao ,  Chiyu Jiang

IPC: G06N3/042 ,  G07C5/08

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for performing rare example mining in driving log data. In one aspect, a method includes maintaining a plurality of density estimation models that each correspond to a different rareness type with respect to historical sensor inputs in a driving log generated by sensors on-board a vehicle; receiving a query that references a sensor input; generating, from the sensor input, a corresponding density estimation model input for each of the plurality of density estimation models; processing, using each of the plurality of density estimation models, the corresponding density estimation model input to generate a corresponding density score; generating, for the sensor input, and from the density scores, a rareness score associated with each different rareness type; and providing the rareness scores in response to receiving the query.