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公开(公告)号：US11952014B2
公开(公告)日：2024-04-09
申请号：US17514713
申请日：2021-10-29
申请人： Waymo LLC
发明人： Aishwarya Parasuram , Alisha Saxena , Kai Ding , Stéphane Ross , Xin Liu , Anoosha Sagar
CPC分类号： B60W60/0027 , B60W50/0097 , G05B13/0265 , B60W2554/4045 , B60W2555/60
摘要： Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, that obtain scene features in an environment that includes an autonomous vehicle and a target agent at a current time point; determine whether the target agent is an emergency vehicle that is active at the current time point; generate from the scene features, an input (i) that includes the scene features and (ii) that indicates whether the target vehicle is an emergency vehicle that is active at the current time point; and process the input using a machine learning model that is configured to generate a behavior prediction output for the target agent that characterizes predicted future behavior of the target agent after the current time point.
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公开(公告)号：US20240126296A1
公开(公告)日：2024-04-18
申请号：US18494997
申请日：2023-10-26
申请人： Waymo LLC
发明人： Vishu Goyal , Stéphane Ross , Kai Ding
摘要： To operate an autonomous vehicle, a rail agent is detected in a vicinity of the autonomous vehicle using a detection system. One or more tracks are determined on which the detected rail agent is possibly traveling, and possible paths for the rail agent are predicted based on the determined one or more tracks. One or more motion paths are determined for one or more probable paths from the possible paths, and a likelihood for each of the one or more probable paths is determined based on each motion plan. A path for the autonomous vehicle is then determined based on a most probable path associated with a highest likelihood for the rail agent, and the autonomous vehicle is operated using the determined path.
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公开(公告)号：US09914452B1
公开(公告)日：2018-03-13
申请号：US15278341
申请日：2016-09-28
申请人： Waymo LLC
发明人： David Ian Franklin Ferguson , David Harrison Silver , Stéphane Ross , Nathaniel Fairfield , Ioan-Alexandru Sucan
IPC分类号： B60W30/09 , B60W30/095
CPC分类号： B60W30/09 , B60W30/0953 , B60W30/0956 , B60W30/18154 , B60W2550/10 , B60W2550/30 , B60W2600/00 , B60W2720/24 , G05D1/0088 , G05D1/0214
摘要： Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.
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公开(公告)号：US20230139578A1
公开(公告)日：2023-05-04
申请号：US17514766
申请日：2021-10-29
申请人： Waymo LLC
发明人： Aishwarya Parasuram , Alisha Saxena , Anoosha Sagar , Kai Ding , Stéphane Ross , Xin Liu
摘要： Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, that obtain scene features in an environment that includes an autonomous vehicle, a first target agent, and a second target agent, and determines whether the first target agent is an emergency vehicle that is active at a current time point. In response to determining that the first target agent is an emergency vehicle that is active at the current time point, an input is generated from the scene features. The input can characterize the scene and indicate that the first target agent is an emergency vehicle that is active at the current time point. Also in response, the input can be processed using a machine learning model that is configured to generate a trajectory prediction output for the second target agent that characterizes predicted future behavior of the second target agent after the current time point.
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公开(公告)号：US20230133419A1
公开(公告)日：2023-05-04
申请号：US17514713
申请日：2021-10-29
申请人： Waymo LLC
发明人： Aishwarya Parasuram , Alisha Saxena , Kai Ding , Stéphane Ross , Xin Liu , Anoosha Sagar
摘要： Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, that obtain scene features in an environment that includes an autonomous vehicle and a target agent at a current time point; determine whether the target agent is an emergency vehicle that is active at the current time point; generate from the scene features, an input (i) that includes the scene features and (ii) that indicates whether the target vehicle is an emergency vehicle that is active at the current time point; and process the input using a machine learning model that is configured to generate a behavior prediction output for the target agent that characterizes predicted future behavior of the target agent after the current time point.
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公开(公告)号：US10899345B1
公开(公告)日：2021-01-26
申请号：US16538063
申请日：2019-08-12
申请人： Waymo LLC
发明人： David Ian Franklin Ferguson , David Harrison Silver , Stéphane Ross , Nathaniel Fairfield , Ioan-Alexandru Sucan
IPC分类号： B60W30/09 , B60W30/095 , G05D1/00 , B60W30/18 , G05D1/02
摘要： Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.
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公开(公告)号：US12090997B1
公开(公告)日：2024-09-17
申请号：US17123219
申请日：2020-12-16
申请人： Waymo LLC
发明人： David Ian Franklin Ferguson , David Harrison Silver , Stéphane Ross , Nathaniel Fairfield , Ioan-Alexandru Sucan
IPC分类号： B60W30/09 , B60W30/095 , B60W30/18 , G05D1/00
CPC分类号： B60W30/09 , B60W30/0953 , B60W30/0956 , B60W30/18154 , G05D1/0088 , G05D1/0214 , B60W2554/00 , B60W2554/80 , B60W2556/00 , B60W2720/24
摘要： Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.
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公开(公告)号：US11841704B2
公开(公告)日：2023-12-12
申请号：US17089046
申请日：2020-11-04
申请人： Waymo LLC
发明人： Vishu Goyal , Stéphane Ross , Kai Ding
CPC分类号： G05D1/0088 , G05D1/0214 , G05D2201/0213
摘要： To operate an autonomous vehicle, a rail agent is detected in a vicinity of the autonomous vehicle using a detection system. One or more tracks are determined on which the detected rail agent is possibly traveling, and possible paths for the rail agent are predicted based on the determined one or more tracks. One or more motion paths are determined for one or more probable paths from the possible paths, and a likelihood for each of the one or more probable paths is determined based on each motion plan. A path for the autonomous vehicle is then determined based on a most probable path associated with a highest likelihood for the rail agent, and the autonomous vehicle is operated using the determined path.
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公开(公告)号：US20220137623A1
公开(公告)日：2022-05-05
申请号：US17089046
申请日：2020-11-04
申请人： Waymo LLC
发明人： Vishu Goyal , Stéphane Ross , Kai Ding
摘要： To operate an autonomous vehicle, a rail agent is detected in a vicinity of the autonomous vehicle using a detection system. One or more tracks are determined on which the detected rail agent is possibly traveling, and possible paths for the rail agent are predicted based on the determined one or more tracks. One or more motion paths are determined for one or more probable paths from the possible paths, and a likelihood for each of the one or more probable paths is determined based on each motion plan. A path for the autonomous vehicle is then determined based on a most probable path associated with a highest likelihood for the rail agent, and the autonomous vehicle is operated using the determined path.
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公开(公告)号：US10421453B1
公开(公告)日：2019-09-24
申请号：US15802820
申请日：2017-11-03
申请人： Waymo LLC
发明人： David Ian Franklin Ferguson , David Harrison Silver , Stéphane Ross , Nathaniel Fairfield , Ioan-Alexandru Sucan
IPC分类号： B60W30/09 , B60W30/095
摘要： Aspects of the disclosure relate to detecting and responding to objects in a vehicle's environment. For example, an object may be identified in a vehicle's environment, the object having a heading and location. A set of possible actions for the object may be generated using map information describing the vehicle's environment and the heading and location of the object. A set of possible future trajectories of the object may be generated based on the set of possible actions. A likelihood value of each trajectory of the set of possible future trajectories may be determined based on contextual information including a status of the detected object. A final future trajectory is determined based on the determined likelihood value for each trajectory of the set of possible future trajectories. The vehicle is then maneuvered in order to avoid the final future trajectory and the object.
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