公开(公告)号：US20230406361A1

公开(公告)日：2023-12-21

申请号：US18335920

申请日：2023-06-15

Applicant: Waymo LLC

Inventor： Wenjie Luo ,  Cheolho Park ,  Dragomir Anguelov ,  Benjamin Sapp

IPC: B60W60/00 ,  B60W50/00

CPC classification number: B60W60/00272 ,  B60W50/0097 ,  B60W2554/4029 ,  B60W2554/4026 ,  B60W2554/4046

Abstract: Methods, systems, and apparatus for generating trajectory predictions for one or more agents. In one aspect, a system comprises one or more computers configured to obtain scene context data characterizing a scene in an environment at a current time point, where the scene includes multiple agents. The one or more computers process the scene context data using a marginal trajectory prediction neural network to generate a respective marginal trajectory prediction for each of the plurality of agents that defines multiple possible trajectories for the agent after the current time point and a respective likelihood score for each of the multiple possible future trajectories. The one or more computers can generate graph data based on the respective marginal trajectory predictions, and the one or more computers can process the graph data using a graph neural network to generate a joint trajectory prediction output for the multiple agents in the scene.