公开(公告)号：US20250121857A1

公开(公告)日：2025-04-17

申请号：US18913074

申请日：2024-10-11

Applicant: Waymo LLC

Inventor： Bertrand Robert Douillard ,  Aurick Qikun Zhou ,  Rami Al-Rfou ,  Kratarth Goel ,  Benjamin Sapp ,  Andre Liang Cornman ,  Cheolho Park ,  Lingyun Liu

IPC: B60W60/00 ,  B60W50/00 ,  G06F30/15

Abstract: A method performed by one or more computers, the method comprising: obtaining scene context data characterizing a scene in an environment at a current time point, wherein the scene context data includes features of the scene in a scene-centric coordinate system; generating a scene-centric encoded representation of the scene in the environment by processing the scene context data using an encoder neural network; for each target agent: obtaining agent-specific features for the target agent, processing the agent-specific features for the target agent and the scene-centric encoded representation of the scene using a fusion neural network to generate a fused scene representation for the target agent, and processing the fused scene representation for the target agent using a decoder neural network to generate a trajectory prediction output for the target agent in an agent-centric coordinate system for the target agent.