公开(公告)号：US20230326335A1

公开(公告)日：2023-10-12

申请号：US17706063

申请日：2022-03-28

Applicant: Waymo LLC

Inventor： Kai Ding ,  Stéphane Ross ,  Chenjie Yang ,  Xiaoting Yin

IPC: G06N5/00 ,  B60W30/10 ,  G06N3/04 ,  B60W30/095 ,  G08G1/056

CPC classification number: G08G1/056 ,  B60W30/095 ,  B60W30/10 ,  G06N3/04 ,  G06N5/003 ,  B60W2555/60

Abstract: Aspects of the disclosure provide methods of modeling wrong-way driving of road users. For instance, log data including an observed trajectory of a first road user may be accessed. A first set of candidate lane segments for wrong-way driving may be identified from map information. A second set of candidate lane segments for not wrong-way driving may be identified from the map information. For each candidate lane segment in the first set and in the second set, a distance cost between the candidate lane segment and the observed trajectory may be determined. A candidate lane segment may be selected from at least one of the first set or the second set based on the determined distance costs. The selected candidate lane segment may be used to train a model to provide a likelihood of a second road user being engaged in wrong-way driving in a lane.