公开(公告)号：US11067988B1

公开(公告)日：2021-07-20

申请号：US16352174

申请日：2019-03-13

Applicant: Waymo LLC

Inventor： Aleksandra Faust ,  Matthieu Devin ,  Yu-hsin Joyce Chen ,  Franklin Morley ,  Vadim Furman ,  Carlos Alberto Fuertes Pascual

IPC: G05D1/00 ,  G05B13/02

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for implementing an interactive autonomous vehicle agent. One of the methods includes receiving a request to generate an experience tuple for a vehicle in a particular driving context. A predicted environment observation representing a predicted environment of the autonomous vehicle after the candidate action is taken by the autonomous vehicle in an initial environment is generated, including providing an initial environment observation and the candidate action as input to a vehicle behavior model neural network trained to generate predicted environment observations. An immediate quality value is generated from a context-specific quality model that generates immediate quality values that are specific to the particular driving context. An experience tuple comprising the initial environment observation, the candidate action, and the immediate quality value is generated and used as input to a reinforcement learning system for the autonomous vehicle.

公开(公告)号：US11210200B2

公开(公告)日：2021-12-28

申请号：US17029663

申请日：2020-09-23

Applicant: Waymo LLC

Inventor： Franklin Morley ,  Omer Baror ,  Nathaniel Fairfield ,  Miner Crary

IPC: G06F11/36 ,  G05D1/00

Abstract: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.

公开(公告)号：US11645189B2

公开(公告)日：2023-05-09

申请号：US17517207

申请日：2021-11-02

Applicant: Waymo LLC

Inventor： Franklin Morley ,  Omer Baror ,  Nathaniel Fairfield ,  Miner Crary

IPC: G06F11/36 ,  G05D1/00

CPC classification number: G06F11/3608 ,  G06F11/3688 ,  G05D1/0088

Abstract: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.

公开(公告)号：US10831636B2

公开(公告)日：2020-11-10

申请号：US15864239

申请日：2018-01-08

Applicant: Waymo LLC

Inventor： Franklin Morley ,  Omer Baror ,  Nathaniel Fairfield ,  Miner Crary

IPC: G06F11/36 ,  G05D1/00

Abstract: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.

公开(公告)号：US20210004313A1

公开(公告)日：2021-01-07

申请号：US17029663

申请日：2020-09-23

Applicant: Waymo LLC

Inventor： Franklin Morley ,  Omer Baror ,  Nathaniel Fairfield ,  Miner Crary

IPC: G06F11/36

Abstract: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.

公开(公告)号：US10254759B1

公开(公告)日：2019-04-09

申请号：US15704969

申请日：2017-09-14

Applicant: Waymo LLC

Inventor： Aleksandra Faust ,  Matthieu Devin ,  Yu-hsin Joyce Chen ,  Franklin Morley ,  Vadim Furman ,  Carlos Alberto Fuertes Pascual

IPC: G05D1/00 ,  G05B13/02

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for implementing an interactive autonomous vehicle agent. One of the methods includes receiving a request to generate an experience tuple for a vehicle in a particular driving context. A predicted environment observation representing a predicted environment of the autonomous vehicle after the candidate action is taken by the autonomous vehicle in an initial environment is generated, including providing an initial environment observation and the candidate action as input to a vehicle behavior model neural network trained to generate predicted environment observations. An immediate quality value is generated from a context-specific quality model that generates immediate quality values that are specific to the particular driving context. An experience tuple comprising the initial environment observation, the candidate action, and the immediate quality value is generated and used as input to a reinforcement learning system for the autonomous vehicle.

公开(公告)号：US20220100635A1

公开(公告)日：2022-03-31

申请号：US17517207

申请日：2021-11-02

Applicant: Waymo LLC

Inventor： Franklin Morley ,  Omer Baror ,  Nathaniel Fairfield ,  Miner Crary

IPC: G06F11/36

Abstract: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.

公开(公告)号：US20190213103A1

公开(公告)日：2019-07-11

申请号：US15864239

申请日：2018-01-08

Applicant: Waymo LLC

Inventor： Franklin Morley ,  Omer Baror ,  Nathaniel Fairfield ,  Miner Crary

IPC: G06F11/36

Abstract: Aspects of the disclosure relate to validating autonomous control software for operating a vehicle autonomously. For instance, the autonomous control software is run through a driving scenario to observe an outcome for the autonomous control software. A validation model is run through the driving scenario a plurality of times to observe an outcome for the model for each of the plurality of times. Whether the software passed the driving scenario is determined based on whether the outcome for the software indicates that a virtual vehicle under control of the software collided with another object during the single time. Whether the validation model passed the driving scenario is determined based on whether the outcome for the model indicates that a virtual vehicle under control of the model collided with another object in any one of the plurality of times. The software is validated based on the determinations.