公开(公告)号：US20240157979A1

公开(公告)日：2024-05-16

申请号：US18511710

申请日：2023-11-16

申请人： Waymo LLC

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

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

CPC分类号： B60W60/00276 ,  B60W50/0097 ,  B60W50/06 ,  B60W2552/20 ,  B60W2554/4044 ,  B60W2556/10

摘要： 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.