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.

公开(公告)号：US20240308551A1

公开(公告)日：2024-09-19

申请号：US18672812

申请日：2024-05-23

Applicant: Waymo LLC

Inventor： Azadeh Dinparastdjadid ,  Johan Engstrom ,  Haoyu Chen ,  Isaac Supeene ,  Menghui Wang

IPC: B60W60/00 ,  G07C5/08

CPC classification number: B60W60/0027 ,  G07C5/0808 ,  B60W2554/4026 ,  B60W2554/4029 ,  B60W2554/404

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing a backward looking surprise metric for autonomously driven vehicles. One of the methods includes obtaining first data representing one or more previously predicted states of an agent along one or more predicted trajectories of the agent at a first time step. Second data representing one or more states of the agent at a subsequent time step is obtained. A surprise score is computed from a measure of a difference between the first data computed for the one or more predicted trajectories for the prior time step and the second data computed for the one or more predicted states for the subsequent time step.

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：US12017686B1

公开(公告)日：2024-06-25

申请号：US17399418

申请日：2021-08-11

Applicant: Waymo LLC

Inventor： Azadeh Dinparastdjadid ,  Johan Engstrom ,  Haoyu Chen ,  Isaac Supeene ,  Menghui Wang

IPC: B60W60/00 ,  G07C5/08

CPC classification number: B60W60/0027 ,  G07C5/0808 ,  B60W2554/4026 ,  B60W2554/4029 ,  B60W2554/404

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing a backward looking surprise metric for autonomously driven vehicles. One of the methods includes obtaining first data representing one or more previously predicted states of an agent along one or more predicted trajectories of the agent at a first time step. Second data representing one or more states of the agent at a subsequent time step is obtained. A surprise score is computed from a measure of a difference between the first data computed for the one or more predicted trajectories for the prior time step and the second data computed for the one or more predicted states for the subsequent time step.