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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
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.
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公开(公告)号：US20210387628A1
公开(公告)日：2021-12-16
申请号：US16898528
申请日：2020-06-11
Applicant: WAYMO LLC
Inventor： Menghui Wang , Aleksandar Gabrovski , Xiaoyi Liu , Wesley Heung , Yang-Hua Chu
Abstract: The disclosure relates to running simulations in order to test software used to control a vehicle in an autonomous driving mode. For instance, logged data may be identified for a simulation. The logged data may have been collected by a first vehicle and may identifying an agent that is a road user. The logged data may be analyzed to identify one or more signals of intent of the agent including a logged path of the agent. One or more characteristics may be identified based on the one or more signals. The simulation may be run using the logged data by replacing the agent with an interactive agent having the one or more characteristics. The interactive agent may be capable of responding to actions performed by a simulated vehicle in the simulation using software for controlling a vehicle in an autonomous driving mode.
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公开(公告)号：US11790131B2
公开(公告)日：2023-10-17
申请号：US17947518
申请日：2022-09-19
Applicant: Waymo LLC
Inventor： Xiaoyi Liu , Menghui Wang , Yang-hua Chu , Aleksandar Gabrovski
CPC classification number: G06F30/20 , G05D1/0088 , G05D2201/0213
Abstract: The disclosure relates to testing software for operating an autonomous vehicle. In one instance, a simulation may be run using log data collected by a vehicle operating in an autonomous driving mode. The simulation may be run using the software to control a simulated vehicle and by modifying a characteristic of an agent identified in the log data. During the running of the simulation, that a first type of interaction between the first simulated vehicle and the modified agent will occur may be determined. In response to determining that the particular type of interaction will occur, the modified agent may be replaced by a interactive agent that simulates a road user corresponding to the modified agent that is capable of responding to actions performed by simulated vehicles. That the particular type of interaction between the simulated vehicle and the interactive agent has occurred in the simulation may be determined.
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公开(公告)号：US20210157882A1
公开(公告)日：2021-05-27
申请号：US16697428
申请日：2019-11-27
Applicant: Waymo LLC
Inventor： Xiaoyi Liu , Menghui Wang , Yang-hua Chu , Aleksandar Gabrovski
Abstract: The disclosure relates to testing software for operating an autonomous vehicle. In one instance, a simulation may be run using log data collected by a vehicle operating in an autonomous driving mode. The simulation may be run using the software to control a simulated vehicle and by modifying a characteristic of an agent identified in the log data. During the running of the simulation, that a first type of interaction between the first simulated vehicle and the modified agent will occur may be determined. In response to determining that the particular type of interaction will occur, the modified agent may be replaced by a interactive agent that simulates a road user corresponding to the modified agent that is capable of responding to actions performed by simulated vehicles. That the particular type of interaction between the simulated vehicle and the interactive agent has occurred in the simulation may be determined.
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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
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.
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Patent Agency Ranking
6.发明公开公开(公告)号：US20230382400A1
公开(公告)日：2023-11-30
申请号：US18231351
申请日：2023-08-08
Applicant: WAYMO LLC
Inventor： Menghui Wang , Aleksandar Gabrovski , Xiaoyi Liu , Wesley Heung , Yang-Hua Chu
CPC classification number: B60W40/09 , B60W60/0025 , G06F30/20 , G06F11/3476
Abstract: The disclosure relates to running simulations in order to test software used to control a vehicle in an autonomous driving mode. For instance, logged data may be identified for a simulation. The logged data may have been collected by a first vehicle and may identifying an agent that is a road user. The logged data may be analyzed to identify one or more signals of intent of the agent including a logged path of the agent. One or more characteristics may be identified based on the one or more signals. The simulation may be run using the logged data by replacing the agent with an interactive agent having the one or more characteristics. The interactive agent may be capable of responding to actions performed by a simulated vehicle in the simulation using software for controlling a vehicle in an autonomous driving mode.
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公开(公告)号：US20230071259A1
公开(公告)日：2023-03-09
申请号：US17947518
申请日：2022-09-19
Applicant: Waymo LLC
Inventor： Xiaoyi Liu , Menghui Wang , Yang-hua Chu , Aleksandar Gabrovski
Abstract: The disclosure relates to testing software for operating an autonomous vehicle. In one instance, a simulation may be run using log data collected by a vehicle operating in an autonomous driving mode. The simulation may be run using the software to control a simulated vehicle and by modifying a characteristic of an agent identified in the log data. During the running of the simulation, that a first type of interaction between the first simulated vehicle and the modified agent will occur may be determined. In response to determining that the particular type of interaction will occur, the modified agent may be replaced by a interactive agent that simulates a road user corresponding to the modified agent that is capable of responding to actions performed by simulated vehicles. That the particular type of interaction between the simulated vehicle and the interactive agent has occurred in the simulation may be determined.
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公开(公告)号：US20250074462A1
公开(公告)日：2025-03-06
申请号：US18239168
申请日：2023-08-29
Applicant: Waymo LLC
Inventor： Qiwu Zou , Menghui Wang
IPC: B60W60/00
Abstract: Embodiments of the present disclosure relate to configuration-based sampling of run segments for simulating autonomous vehicle behavior. In at least one implementation, a method comprises: providing a set of run segments corresponding to scenarios for simulating operation of an autonomous vehicle; receiving a user-specified configuration comprising parameters for identifying target run segments within the set of run segments; applying the user-specified configuration to the set of run segments to identify the target run segments; and causing one or more simulations to be performed using the target run segments to generate a simulation output.
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公开(公告)号：US12103542B2
公开(公告)日：2024-10-01
申请号：US18231351
申请日：2023-08-08
Applicant: WAYMO LLC
Inventor： Menghui Wang , Aleksandar Gabrovski , Xiaoyi Liu , Wesley Heung , Yang-Hua Chu
CPC classification number: B60W40/09 , B60W60/0025 , G06F11/3476 , G06F30/20
Abstract: The disclosure relates to running simulations in order to test software used to control a vehicle in an autonomous driving mode. For instance, logged data may be identified for a simulation. The logged data may have been collected by a first vehicle and may identifying an agent that is a road user. The logged data may be analyzed to identify one or more signals of intent of the agent including a logged path of the agent. One or more characteristics may be identified based on the one or more signals. The simulation may be run using the logged data by replacing the agent with an interactive agent having the one or more characteristics. The interactive agent may be capable of responding to actions performed by a simulated vehicle in the simulation using software for controlling a vehicle in an autonomous driving mode.
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公开(公告)号：US11760361B2
公开(公告)日：2023-09-19
申请号：US16898528
申请日：2020-06-11
Applicant: WAYMO LLC
Inventor： Menghui Wang , Aleksandar Gabrovski , Xiaoyi Liu , Wesley Heung , Yang-Hua Chu
CPC classification number: B60W40/09 , B60W60/0025 , G06F11/3476 , G06F30/20
Abstract: The disclosure relates to running simulations in order to test software used to control a vehicle in an autonomous driving mode. For instance, logged data may be identified for a simulation. The logged data may have been collected by a first vehicle and may identifying an agent that is a road user. The logged data may be analyzed to identify one or more signals of intent of the agent including a logged path of the agent. One or more characteristics may be identified based on the one or more signals. The simulation may be run using the logged data by replacing the agent with an interactive agent having the one or more characteristics. The interactive agent may be capable of responding to actions performed by a simulated vehicle in the simulation using software for controlling a vehicle in an autonomous driving mode.
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