公开(公告)号：US11926347B2

公开(公告)日：2024-03-12

申请号：US17514259

申请日：2021-10-29

Applicant: Waymo LLC

Inventor： Reza Mahjourian ,  Carlton Macdonald Downey ,  Benjamin Sapp ,  Dragomir Anguelov ,  Ekaterina Igorevna Tolstaya

IPC: B60W60/00 ,  G06N3/045

CPC classification number: B60W60/00272 ,  B60W60/00274 ,  G06N3/045

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for performing a conditional behavior prediction for one or more agents. The system obtains context data characterizing an environment. The context data includes data characterizing a plurality of agents, including a query agent and one or more target agents, in the environment at a current time point. The system further obtains data identifying a planned future trajectory for the query agent after the current time point, and for each target agent in the set, processes the context data and the data identifying the planned future trajectory using a first neural network to generate a conditional trajectory prediction output that defines a conditional probability distribution over possible future trajectories of the target agent after the current time point given that the query agent follows the planned future trajectory for the query agent after the current time point.

公开(公告)号：US20220135086A1

公开(公告)日：2022-05-05

申请号：US17514259

申请日：2021-10-29

Applicant: Waymo LLC

Inventor： Reza Mahjourian ,  Carlton Macdonald Downey ,  Benjamin Sapp ,  Dragomir Anguelov ,  Ekaterina Igorevna Tolstaya

IPC: B60W60/00 ,  G06N3/04

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for performing a conditional behavior prediction for one or more agents. The system obtains context data characterizing an environment. The context data includes data characterizing a plurality of agents, including a query agent and one or more target agents, in the environment at a current time point. The system further obtains data identifying a planned future trajectory for the query agent after the current time point, and for each target agent in the set, processes the context data and the data identifying the planned future trajectory using a first neural network to generate a conditional trajectory prediction output that defines a conditional probability distribution over possible future trajectories of the target agent after the current time point given that the query agent follows the planned future trajectory for the query agent after the current time point.