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公开(公告)号：US11815892B2
公开(公告)日：2023-11-14
申请号：US17333823
申请日：2021-05-28
Applicant: Waymo LLC
Inventor： Kai Ding , Khaled Refaat , Stephane Ross
CPC classification number: G05D1/0088 , G05D1/0214 , G05D1/0221 , G06N5/022 , G05D2201/0213
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle and, for only those agents which are high priority agents, generating data characterizing the agents using a first prediction model. In a first aspect, a system identifies multiple agents in an environment in a vicinity of a vehicle. The system generates a respective importance score for each of the agents by processing a feature representation of each agent using an importance scoring model. The importance score for an agent characterizes an estimated impact of the agent on planning decisions generated by a planning system of the vehicle which plans a future trajectory of the vehicle. The system identifies, as high-priority agents, a proper subset of the plurality of agents with the highest importance scores.
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公开(公告)号：US20210200230A1
公开(公告)日：2021-07-01
申请号：US17131527
申请日：2020-12-22
Applicant: Waymo LLC
Inventor： Stephane Ross
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for conditional behavior prediction for agents in an environment. Conditional behavior predictions are made for agents navigating through the same environment as an autonomous vehicle that are conditioned on a planned future trajectory for the autonomous vehicle, e.g., as generated by a planning system of the autonomous vehicle.
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公开(公告)号：US20210133582A1
公开(公告)日：2021-05-06
申请号：US16671019
申请日：2019-10-31
Applicant: Waymo LLC
Inventor： Khaled Refaat , Kai Ding , Stephane Ross
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for training a neural network having a plurality of sub neural networks to assign respective confidence scores to one or more candidate future trajectories for an agent. Each confidence score indicates a predicted likelihood that the agent will move along the corresponding candidate future trajectory in the future. In one aspect, a method includes using the first sub neural network to generate a training intermediate representation; using the second sub neural network to generate respective training confidence scores; using a trajectory generation neural network to generate a training trajectory generation output; computing a first loss and a second loss; and determining an update to the current values of the parameters of the first and second sub neural networks.
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公开(公告)号：US20200333794A1
公开(公告)日：2020-10-22
申请号：US16922798
申请日：2020-07-07
Applicant: Waymo LLC
Inventor： Khaled Refaat , Stephane Ross
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating a representation of a trajectory of a target agent in an environment. In one aspect, the representation of the trajectory of the target agent in the environment is a concatenation of a plurality of channels, where each channel is represented as a two-dimensional array of data values. Each position in each channel corresponds to a respective spatial position in the environment, and corresponding positions in different channels correspond to the same spatial position in the environment. The channels include a time channel and a respective motion channel corresponding to each motion parameter in a predetermined set of motion parameters.
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公开(公告)号：US11673550B2
公开(公告)日：2023-06-13
申请号：US17320727
申请日：2021-05-14
Applicant: Waymo LLC
Inventor： Kai Ding , Khaled Refaat , Stephane Ross
IPC: B60W30/095 , G05D1/02 , G05D1/00
CPC classification number: B60W30/0956 , G05D1/0088 , G05D1/0214 , G05D2201/0213
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle. In one aspect, a method comprises processing an input that characterizes a trajectory of the vehicle in an environment using an importance scoring model to generate an output that defines a respective importance score for each of a plurality of agents in the environment in the vicinity of the vehicle. The importance score for an agent characterizes an estimated impact of the agent on planning decisions generated by a planning system of the vehicle which plans a future trajectory of the vehicle. The high-priority agents are identified as a proper subset of the plurality of agents with the highest importance scores.
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Patent Agency Ranking
公开(公告)号：US20220204055A1
公开(公告)日：2022-06-30
申请号：US17199305
申请日：2021-03-11
Applicant: Waymo LLC
Inventor： Michael Fiore Watterson , Jaime Fernandez Fisac , Stephane Ross
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for optimizing a future trajectory of a vehicle. In one aspect, a method comprises obtaining respective initial future trajectories for a vehicle navigating in an environment and for each of the other agents in the vicinity of the vehicle for a future time period; obtaining respective cost functions and linearized dynamic functions for the vehicle and the other agents; performing a backward pass through the time steps starting from the last time step until the current time step to generate a respective optimal agent policy for the vehicle; and generating an optimized future trajectory for the vehicle by performing a forward pass through the time steps starting from the current time step until the last time step to select a respective action generated from the respective optimal agent policy for the vehicle at each time step.
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公开(公告)号：US11340622B2
公开(公告)日：2022-05-24
申请号：US16557938
申请日：2019-08-30
Applicant: Waymo LLC
Inventor： Khaled Refaat , Kai Ding , Stephane Ross
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining respective importance scores for a plurality of agents in a vicinity of an autonomous vehicle navigating through an environment. The respective importance scores characterize a relative impact of each agent on planned trajectories generated by a planning subsystem of the autonomous vehicle. In one aspect, a method comprises providing different states of an environment as input to the planning subsystem and obtaining as output from the planning subsystem corresponding planned trajectories. Importance scores for the one or more agents that are in one state but not in the other are determined based on a measure of difference between the planned trajectories.
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公开(公告)号：US20210232147A1
公开(公告)日：2021-07-29
申请号：US17229384
申请日：2021-04-13
Applicant: Waymo LLC
Inventor： Khaled Refaat , Stephane Ross
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating a representation of a trajectory of a target agent in an environment. In one aspect, the representation of the trajectory of the target agent in the environment is a concatenation of a plurality of channels, where each channel is represented as a two-dimensional array of data values. Each position in each channel corresponds to a respective spatial position in the environment, and corresponding positions in different channels correspond to the same spatial position in the environment. The channels include a time channel and a respective motion channel corresponding to each motion parameter in a predetermined set of motion parameters.
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公开(公告)号：US20210064044A1
公开(公告)日：2021-03-04
申请号：US16557938
申请日：2019-08-30
Applicant: Waymo LLC
Inventor： Khaled Refaat , Kai Ding , Stephane Ross
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for determining respective importance scores for a plurality of agents in a vicinity of an autonomous vehicle navigating through an environment. The respective importance scores characterize a relative impact of each agent on planned trajectories generated by a planning subsystem of the autonomous vehicle. In one aspect, a method comprises providing different states of an environment as input to the planning subsystem and obtaining as output from the planning subsystem corresponding planned trajectories. Importance scores for the one or more agents that are in one state but not in the other are determined based on a measure of difference between the planned trajectories.
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公开(公告)号：US11592827B1
公开(公告)日：2023-02-28
申请号：US16719609
申请日：2019-12-18
Applicant: Waymo LLC
Inventor： Chi Pang Lam , Stephane Ross
IPC: G05D1/02 , G06N20/00 , B60W30/095 , G06K9/62
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for predicting how likely it is that a target agent in an environment will yield to another agent when the pair of agents are predicted to have overlapping future paths. In one aspect, a method comprises obtaining a first trajectory prediction specifying a predicted future path for a target agent in an environment; obtaining a second trajectory prediction specifying a predicted future path for another agent in the environment; determining that, at an overlapping region, the predicted future path for the target agent overlaps with the predicted future path for the other agent; and in response: providing as input to a machine learning model respective features for the target agent and the other agent; and obtaining the likelihood score as output from the machine learning model.
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