公开(公告)号：US20230062158A1

公开(公告)日：2023-03-02

申请号：US17902670

申请日：2022-09-02

Applicant: Waymo LLC

Inventor： Xinwei Shi ,  Junhua Mao ,  Khaled Refaat ,  Tian Lan ,  Jeonhyung Kang ,  Zhishuai Zhang ,  Jonathan Chandler Stroud

IPC: B60W60/00 ,  B60W40/04 ,  B60W50/00 ,  G06N3/08

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium that determine yield behavior for an autonomous vehicle, and can include identifying an agent that is in a vicinity of an autonomous vehicle navigating through a scene at a current time point. Scene features can be obtained and can include features of (i) the agent and (ii) the autonomous vehicle. An input that can include the scene features can be processed using a first machine learning model that is configured to generate (i) a crossing intent prediction that includes a crossing intent score that represents a likelihood that the agent intends to cross a roadway in a future time window after the current time, and (ii) a crossing action prediction that includes a crossing action score that represents a likelihood that the agent will cross the roadway in the future time window after the current time.

公开(公告)号：US11987265B1

公开(公告)日：2024-05-21

申请号：US17387852

申请日：2021-07-28

Applicant: Waymo LLC

Inventor： Hang Zhao ,  Jiyang Gao ,  Chen Sun ,  Yi Shen ,  Yuning Chai ,  Cordelia Luise Schmid ,  Congcong Li ,  Benjamin Sapp ,  Dragomir Anguelov ,  Tian Lan ,  Yue Shen

IPC: B60W60/00 ,  G06N3/02

CPC classification number: B60W60/001 ,  G06N3/02 ,  B60W2420/42 ,  B60W2554/4049

Abstract: A system obtains scene context data characterizing the environment. The scene context data includes data that characterizes a trajectory of an agent in a vicinity of a vehicle up to a current time point. The system identifies a plurality of initial target locations, and generates, for each of a plurality of target locations that each corresponds to one of the initial target locations, a respective predicted likelihood score that represents a likelihood that the target location will be an intended final location for a future trajectory of the agent. For each target location in a first subset of the target locations, the system generates a predicted future trajectory for the agent given that the target location is the intended final location for the future trajectory. The system further selects, as likely future trajectories of the agent, one or more of the predicted future trajectories.

公开(公告)号：US20230150550A1

公开(公告)日：2023-05-18

申请号：US17988701

申请日：2022-11-16

Applicant: Waymo LLC

Inventor： Xinwei Shi ,  Tian Lan ,  Jonathan Chandler Stroud ,  Zhishuai Zhang ,  Junhua Mao ,  Jeonhyung Kang ,  Khaled Refaat ,  Jiachen Li

IPC: B60W60/00 ,  B60W50/00 ,  B60W40/04 ,  G06N3/04 ,  G06N3/08

CPC classification number: B60W60/00274 ,  B60W60/0015 ,  B60W50/0097 ,  B60W40/04 ,  G06N3/049 ,  G06N3/08 ,  B60W2554/4029 ,  B60W2554/4045 ,  B60W2554/4046 ,  B60W2554/408 ,  B60W2556/10

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent behavior prediction using keypoint data. One of the methods includes obtaining data characterizing a scene in an environment, the data comprising: (i) context data comprising data characterizing historical trajectories of a plurality of agents up to the current time point; and (ii) keypoint data for a target agent; processing the context data using a context data encoder neural network to generate a context embedding for the target agent; processing the keypoint data using a keypoint encoder neural network to generate a keypoint embedding for the target agent; generating a combined embedding for the target agent from the context embedding and the keypoint embedding; and processing the combined embedding using a decoder neural network to generate a behavior prediction output for the target agent that characterizes predicted behavior of the target agent after the current time point.

公开(公告)号：US20240278803A1

公开(公告)日：2024-08-22

申请号：US18423136

申请日：2024-01-25

Applicant: Waymo LLC

Inventor： Hang Zhao ,  Jiyang Gao ,  Chen Sun ,  Yi Shen ,  Yuning Chai ,  Cordelia Luise Schmid ,  Congcong Li ,  Benjamin Sapp ,  Dragomir Anguelov ,  Tian Lan ,  Yue Shen

IPC: B60W60/00 ,  G06N3/02

CPC classification number: B60W60/001 ,  G06N3/02 ,  B60W2420/403 ,  B60W2554/4049

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for predicting future trajectories for an agent in an environment. A system obtains scene context data characterizing the environment. The scene context data includes data that characterizes a trajectory of an agent in a vicinity of a vehicle in an environment up to a current time point. The system identifies a plurality of initial target locations in the environment. The system further generates, for each of a plurality of target locations that each corresponds to one of the initial target locations, a respective predicted likelihood score that represents a likelihood that the target location will be an intended final location for a future trajectory of the agent starting from the current time point. For each target location in a first subset of the target locations, the system generates a predicted future trajectory for the agent that is a prediction of the future trajectory of the agent given that the target location is the intended final location for the future trajectory. The system further selects, as likely future trajectories of the agent starting from the current time point, one or more of the predicted future trajectories.

公开(公告)号：US20240149906A1

公开(公告)日：2024-05-09

申请号：US17387852

申请日：2021-07-28

Applicant: Waymo LLC

Inventor： Hang Zhao ,  Jiyang Gao ,  Chen Sun ,  Yi Shen ,  Yuning Chai ,  Cordelia Luise Schmid ,  Congcong Li ,  Benjamin Sapp ,  Dragomir Anguelov ,  Tian Lan ,  Yue Shen

IPC: B60W60/00 ,  G06N3/02

CPC classification number: B60W60/001 ,  G06N3/02 ,  B60W2420/42 ,  B60W2554/4049

Abstract: Methods, computer systems, and apparatus, including computer programs encoded on computer storage media, for predicting future trajectories for an agent in an environment. A system obtains scene context data characterizing the environment. The scene context data includes data that characterizes a trajectory of an agent in a vicinity of a vehicle in an. environment up to a current time point. The system identifies a plurality of initial target locations in the environment. The system further generates, for each of a plurality of target locations that each corresponds to one of the initial target locations, a respective predicted likelihood score that represents a likelihood that the target location will be an intended final location for a future trajectory of the agent starting from the current time point. For each target location in a first subset of the target locations, the system generates a predicted future trajectory for the agent that is a prediction of the future trajectory of the agent given that the target location is the intended final location for the future trajectory. The system further selects, as likely future trajectories of the agent starting from the current time point, one or more of the predicted future trajectories.