公开(公告)号：US20240355199A1

公开(公告)日：2024-10-24

申请号：US18642336

申请日：2024-04-22

Applicant: Waymo LLC

Inventor： Johan Engstrom ,  Francesca Margherita Favaro ,  Azadeh Dinparastdjadid ,  Shuyuan Liu ,  John Michael Scanlon ,  Trent William Victor

IPC: G08G1/01 ,  G08G1/16

CPC classification number: G08G1/0133 ,  G08G1/0112 ,  G08G1/166

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for automatically designating traffic scenarios as safety-relevant traffic conflicts between agents in a driving environment. One of the methods includes receiving data representing a traffic scenario involving two agents; computing a safety-relevant metric for a first plurality of time points of the traffic scenario; computing a surprise metric for a second plurality of time points of the traffic scenario; determining that the surprise metric satisfies a surprise threshold within a threshold time window of the safety-relevant metric satisfying a safety-relevant threshold; and in response, designating the traffic scenario as a safety-relevant traffic conflict.

公开(公告)号：US20240051582A1

公开(公告)日：2024-02-15

申请号：US18233696

申请日：2023-08-14

Applicant: Waymo LLC

Inventor： Johan Engstrom ,  Shuyuan Liu ,  Azadeh Dinparastdjadid ,  Camelia Valentina Simoiu

IPC: B60W60/00 ,  B60W40/04

CPC classification number: B60W60/0027 ,  B60W40/04 ,  B60W2554/4046

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting agent response times. One of the methods includes continually updating, at each time step of a plurality of time steps, an accumulated measure of surprise for the agent due to the movements of another entity in the traffic environment. A distribution of previously predicted trajectories is obtained at a previous time step for the other entity in the environment. A measure of surprise is computed from the perspective of the agent. An accumulated measure of surprise is updated for the time step using the computed measure of surprise for the agent. If the accumulated measure of surprise crosses a threshold at a particular point in time, a predicted response time for the agent is generated based on the particular point in time that the accumulated measure of surprise crosses the threshold.