公开(公告)号：US20230280753A1

公开(公告)日：2023-09-07

申请号：US18118696

申请日：2023-03-07

Applicant: Waymo LLC

Inventor： Benjamin James Caine ,  Khaled Refaat ,  Benjamin Sapp ,  Scott Morgan Ettinger ,  Wei Chai ,  Rebecca Dawn Roelofs ,  Liting Sun

IPC: G05D1/02 ,  G06V20/54 ,  G06V10/82 ,  G06V10/774

CPC classification number: G05D1/0221 ,  G06V20/54 ,  G06V10/82 ,  G06V10/774

Abstract: Methods, systems, and apparatus for predicting future trajectories of agents in an environment. In one aspect, a system comprises one or more computers configured to receive a data set comprising multiple training examples. The training examples include scene data comprising respective agent data for multiple agents and a ground truth trajectory for a target agent that represents ground truth motion of the target agent after a corresponding time point. The one or more computers obtain data identifying one or more of the multiple agents as non-causal agents for each training example. A non-causal agent is an agent whose states do not cause the ground truth trajectory for the target agent to change. The one or more computers generate a respective modified training example from each of the multiple training examples.