公开(公告)号：US12296855B2

公开(公告)日：2025-05-13

申请号：US17227177

申请日：2021-04-09

Applicant: Waymo LLC

Inventor： Vishu Goyal ,  Shen Zhang

IPC: B60W60/00 ,  G05D1/00 ,  G06N5/04 ,  G06N20/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating unmapped U-turn predictions using a machine learning model. One of the methods includes obtaining features of an agent travelling on a roadway. One or more unmapped U-turn regions in a vicinity of the agent on the roadway are identified. For each of the unmapped U-turn regions and from at least the features of the agent, a respective likelihood score that represents a likelihood that the agent intends to make an unmapped U-turn at the unmapped U-turn region is generated. Based on the respective likelihood scores, one or more of the unmapped U-turn regions are selected. For each selected unmapped U-turn region, data specifying a candidate future trajectory in which the agent makes the unmapped U-turn at the selected unmapped U-turn region is provided as a possible future trajectory for the agent.

公开(公告)号：US20220326714A1

公开(公告)日：2022-10-13

申请号：US17227177

申请日：2021-04-09

Applicant: Waymo LLC

Inventor： Vishu Goyal ,  Shen Zhang

IPC: G05D1/02 ,  B60W60/00 ,  G06N20/00 ,  G06N5/04

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating unmapped U-turn predictions using a machine learning model. One of the methods includes obtaining features of an agent travelling on a roadway. One or more unmapped U-turn regions in a vicinity of the agent on the roadway are identified. For each of the unmapped U-turn regions and from at least the features of the agent, a respective likelihood score that represents a likelihood that the agent intends to make an unmapped U-turn at the unmapped U-turn region is generated. Based on the respective likelihood scores, one or more of the unmapped U-turn regions are selected. For each selected unmapped U-turn region, data specifying a candidate future trajectory in which the agent makes the unmapped U-turn at the selected unmapped U-turn region is provided as a possible future trajectory for the agent.