公开(公告)号：US11834070B2

公开(公告)日：2023-12-05

申请号：US17370924

申请日：2021-07-08

Applicant: Waymo LLC

Inventor： Johan Engstrom ,  Emmanuel Christophe ,  Joseph Lee ,  Isaac Supeene ,  Razvan Mathias

IPC: B60W60/00 ,  B60W30/095 ,  G06V40/20

CPC classification number: B60W60/0011 ,  B60W30/0956 ,  G06V40/20 ,  B60W2554/4046 ,  B60W2554/4049

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining the likelihood that a particular event would occur during a navigation interaction using simulations generated by sampling from agent data. In one aspect, a method comprises: identifying an instance of a navigation interaction that includes an autonomous vehicle and agents navigating in an environment; generating multiple simulated interactions corresponding to the instance, comprising, for each simulated interaction: identifying one or more agents; for each identified agent and for each property that characterizes behavior of the identified agent, obtaining a probability distribution for the property; sampling a respective value from each of the probability distributions; and simulating the navigation interaction in accordance with the sampled values; and determining a likelihood that the particular event would occur during the navigation interaction based on whether the particular event occurred during each of the simulated interactions.

公开(公告)号：US20230011497A1

公开(公告)日：2023-01-12

申请号：US17370924

申请日：2021-07-08

Applicant: Waymo LLC

Inventor： Johan Engstrom ,  Emmanuel Christophe ,  Joseph Lee ,  Isaac Supeene ,  Razvan Mathias

IPC: B60W60/00 ,  B60W30/095 ,  G06K9/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining the likelihood that a particular event would occur during a navigation interaction using simulations generated by sampling from agent data. In one aspect, a method comprises: identifying an instance of a navigation interaction that includes an autonomous vehicle and agents navigating in an environment; generating multiple simulated interactions corresponding to the instance, comprising, for each simulated interaction: identifying one or more agents; for each identified agent and for each property that characterizes behavior of the identified agent, obtaining a probability distribution for the property; sampling a respective value from each of the probability distributions; and simulating the navigation interaction in accordance with the sampled values; and determining a likelihood that the particular event would occur during the navigation interaction based on whether the particular event occurred during each of the simulated interactions.