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公开(公告)号：US11952014B2
公开(公告)日：2024-04-09
申请号：US17514713
申请日：2021-10-29
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Alisha Saxena , Kai Ding , Stéphane Ross , Xin Liu , Anoosha Sagar
CPC classification number: B60W60/0027 , B60W50/0097 , G05B13/0265 , B60W2554/4045 , B60W2555/60
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, that obtain scene features in an environment that includes an autonomous vehicle and a target agent at a current time point; determine whether the target agent is an emergency vehicle that is active at the current time point; generate from the scene features, an input (i) that includes the scene features and (ii) that indicates whether the target vehicle is an emergency vehicle that is active at the current time point; and process the input using a machine learning model that is configured to generate a behavior prediction output for the target agent that characterizes predicted future behavior of the target agent after the current time point.
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公开(公告)号：US11950166B2
公开(公告)日：2024-04-02
申请号：US16847528
申请日：2020-04-13
Applicant: Waymo LLC
Inventor： Khaled Refaat , Kai Ding
IPC: H04W4/02 , G06F18/214 , G06F18/2321 , G06N3/044 , G06N3/045 , G06N3/047 , G06N3/049 , G06N3/08 , G06N20/00 , G06V10/764 , G06V10/82 , G06V20/56 , H04W4/029
CPC classification number: H04W4/027 , G06F18/214 , G06F18/2321 , G06N3/044 , G06N3/045 , G06N3/047 , G06N3/049 , G06N3/08 , G06N20/00 , G06V10/764 , G06V10/82 , G06V20/56 , H04W4/029
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for determining occupancies of surrounding agents. One of the methods includes obtaining scene data characterizing an environment at a current time point; processing a first network input generated from the scene data using a first neural network to generate an intermediate output; obtaining an identification of a future time point that is after the current time point; and generating, from the intermediate output and the future time point, an occupancy output, wherein the occupancy output comprises respective occupancy probabilities for each of a plurality of locations in the environment, wherein the respective occupancy probability for each location characterizes a likelihood that one or more agents will occupy the location at the future time point.
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公开(公告)号：US11829149B1
公开(公告)日：2023-11-28
申请号：US17750196
申请日：2022-05-20
Applicant: Waymo LLC
Inventor： Khaled Refaat , Kai Ding , Stephane Ross
CPC classification number: G05D1/0219 , G01C21/3446 , G01C21/3492 , G05D1/0221
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining respective importance scores for a plurality of agents in a vicinity of an autonomous vehicle navigating through an environment. The respective importance scores characterize a relative impact of each agent on planned trajectories generated by a planning subsystem of the autonomous vehicle. In one aspect, a method comprises providing different states of an environment as input to the planning subsystem and obtaining as output from the planning subsystem corresponding planned trajectories. Importance scores for the one or more agents that are in one state but not in the other are determined based on a measure of difference between the planned trajectories.
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公开(公告)号：US20230288929A1
公开(公告)日：2023-09-14
申请号：US18197561
申请日：2023-05-15
Applicant: Waymo LLC
Inventor： Kai Ding , Minfa Wang , Haoyu Chen , Khaled Refaat , Stephane Ross , Wei Chai
CPC classification number: G05D1/0088 , G05D1/0214 , G06N3/08 , G05D2201/0213
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle. The high-priority agents can be identified based on a set of mutual importance scores in which each mutual importance score indicates an estimated mutual relevance between the vehicle and a different agent from a set of agents on planning decisions of the other. The mutual importance scores can be calculated based on importance scores assessed from the perspectives of both the vehicle and the agents.
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公开(公告)号：US11687077B2
公开(公告)日：2023-06-27
申请号：US16987980
申请日：2020-08-07
Applicant: Waymo LLC
Inventor： Kai Ding , Minfa Wang , Haoyu Chen , Khaled Refaat , Stephane Ross , Wei Chai
CPC classification number: G05D1/0088 , G05D1/0214 , G06N3/08 , G05D2201/0213
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle. The high-priority agents can be identified based on a set of mutual importance scores in which each mutual importance score indicates an estimated mutual relevance between the vehicle and a different agent from a set of agents on planning decisions of the other. The mutual importance scores can be calculated based on importance scores assessed from the perspectives of both the vehicle and the agents.
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Patent Agency Ranking
公开(公告)号：US11586931B2
公开(公告)日：2023-02-21
申请号：US16671019
申请日：2019-10-31
Applicant: Waymo LLC
Inventor： Khaled Refaat , Kai Ding , Stephane Ross
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for training a neural network having a plurality of sub neural networks to assign respective confidence scores to one or more candidate future trajectories for an agent. Each confidence score indicates a predicted likelihood that the agent will move along the corresponding candidate future trajectory in the future. In one aspect, a method includes using the first sub neural network to generate a training intermediate representation; using the second sub neural network to generate respective training confidence scores; using a trajectory generation neural network to generate a training trajectory generation output; computing a first loss and a second loss; and determining an update to the current values of the parameters of the first and second sub neural networks.
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公开(公告)号：US20210382489A1
公开(公告)日：2021-12-09
申请号：US16892579
申请日：2020-06-04
Applicant: Waymo LLC
Inventor： Vishu Goyal , Kai Ding
Abstract: Jaywalking behaviors of vulnerable road users (VRUs) such as cyclists or pedestrians can be predicted. Location data is obtained that identifies a location of a VRU within a vicinity of a vehicle. Environmental data is obtained that describes an environment of the VRU, where the environmental data identifies a set of environmental features in the environment of the VRU. The system can determine a nominal heading of the VRU, and generate a set of predictive inputs that indicate, for each of at least a subset of the set of environmental features, a physical relationship between the VRU and the environmental feature. The physical relationship can be determined with respect to the nominal heading of the VRU and the location of the VRU. The set of predictive inputs can be processed with a heading estimation model to generate a predicted heading offset (e.g., a target heading offset) for the VRU.
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公开(公告)号：US20210269023A1
公开(公告)日：2021-09-02
申请号：US17320727
申请日：2021-05-14
Applicant: Waymo LLC
Inventor： Kai Ding , Khaled Refaat , Stephane Ross
IPC: B60W30/095 , G05D1/02 , G05D1/00
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle. In one aspect, a method comprises processing an input that characterizes a trajectory of the vehicle in an environment using an importance scoring model to generate an output that defines a respective importance score for each of a plurality of agents in the environment in the vicinity of the vehicle. The importance score for an agent characterizes an estimated impact of the agent on planning decisions generated by a planning system of the vehicle which plans a future trajectory of the vehicle. The high-priority agents are identified as a proper subset of the plurality of agents with the highest importance scores.
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公开(公告)号：US11048927B2
公开(公告)日：2021-06-29
申请号：US15791602
申请日：2017-10-24
Applicant: Waymo LLC
Inventor： Jared Stephen Russell , Kai Ding
IPC: G06K9/00 , B60W30/095 , G08G1/16 , G05D1/02 , G05D1/00
Abstract: The technology relates to controlling a vehicle in an autonomous driving mode. For instance, sensor data identifying an object in an environment of the vehicle may be received. A grid including a plurality of cells may be projected around the object. For each given one of the plurality of cells, a likelihood that the object will enter the given one within a period of time into the future is predicted. A contour is generated based on the predicted likelihoods. The vehicle is then controlled in the autonomous driving mode in order to avoid an area within the contour.
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公开(公告)号：US12204333B2
公开(公告)日：2025-01-21
申请号：US17191491
申请日：2021-03-03
Applicant: Waymo LLC
Inventor： Khaled Refaat , Kai Ding
Abstract: Aspects of the disclosure provide for controlling a vehicle in an autonomous driving mode. For instance, sensor data for an object as well as a plurality of predicted trajectories may be received. Each predicted trajectory may represent a plurality of possible future locations for the object. A grid including a plurality of cells, each being associated with a geographic area, may be generated. Probabilities that the object will enter the geographic area associated with each of the plurality of cells over a period of time into the future may be determined based on the sensor data in order to generate a heat map. One or more of the plurality of predicted trajectories may be compared to the heat map. The vehicle may be controlled in the autonomous driving mode based on the comparison.
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