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公开(公告)号：US12252157B2
公开(公告)日：2025-03-18
申请号：US18497277
申请日：2023-10-30
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Xin Liu , Luyuan Lin , Brandon Douglas Luders
Abstract: Sensor data identifying an emergency vehicle approaching the autonomous vehicle may be received. A predicted trajectory for the emergency vehicle may be received. Whether the autonomous vehicle is impeding the emergency vehicle may be determined based on the predicted trajectory and map information identifying a road on which the autonomous vehicle is currently traveling. Based on a determination that the autonomous vehicle is impeding the emergency vehicle, the autonomous vehicle may be controlled in an autonomous driving mode in order to respond to the emergency vehicle.
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公开(公告)号：US20240124030A1
公开(公告)日：2024-04-18
申请号：US18497277
申请日：2023-10-30
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Xin Liu , Luyuan Lin , Brandon Douglas Luders
IPC: B60W60/00
CPC classification number: B60W60/0027 , B60W2510/18 , B60W2552/05 , B60W2552/10 , B60W2552/20 , B60W2554/20 , B60W2554/402 , B60W2554/4041 , B60W2554/4042 , B60W2554/4045
Abstract: Sensor data identifying an emergency vehicle approaching the autonomous vehicle may be received. A predicted trajectory for the emergency vehicle may be received. Whether the autonomous vehicle is impeding the emergency vehicle may be determined based on the predicted trajectory and map information identifying a road on which the autonomous vehicle is currently traveling. Based on a determination that the autonomous vehicle is impeding the emergency vehicle, the autonomous vehicle may be controlled in an autonomous driving mode in order to respond to the emergency vehicle.
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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
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Alisha Saxena , Anoosha Sagar , Kai Ding , Stéphane Ross , Xin Liu
Abstract: 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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Patent Agency Ranking
公开(公告)号：US20230133419A1
公开(公告)日：2023-05-04
申请号：US17514713
申请日：2021-10-29
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Alisha Saxena , Kai Ding , Stéphane Ross , Xin Liu , Anoosha Sagar
Abstract: 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：US11952014B2
公开(公告)日：2024-04-09
申请号：US17514713
申请日：2021-10-29
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Alisha Saxena , Kai Ding , Stéphane Ross , Xin Liu , Anoosha Sagar
CPC classification number: B60W60/0027 , B60W50/0097 , G05B13/0265 , B60W2554/4045 , B60W2555/60
Abstract: 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：US11834076B2
公开(公告)日：2023-12-05
申请号：US17359861
申请日：2021-06-28
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Xin Liu , Luyuan Lin , Brandon Douglas Luders
CPC classification number: B60W60/0027 , G05D1/0214 , B60W2510/18 , B60W2552/05 , B60W2552/10 , B60W2552/20 , B60W2554/20 , B60W2554/402 , B60W2554/4041 , B60W2554/4042 , B60W2554/4045 , G05D2201/0213
Abstract: Sensor data identifying an emergency vehicle approaching the autonomous vehicle may be received. A predicted trajectory for the emergency vehicle may be received. Whether the autonomous vehicle is impeding the emergency vehicle may be determined based on the predicted trajectory and map information identifying a road on which the autonomous vehicle is currently traveling. Based on a determination that the autonomous vehicle is impeding the emergency vehicle, the autonomous vehicle may be controlled in an autonomous driving mode in order to respond to the emergency vehicle.
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公开(公告)号：US20220410937A1
公开(公告)日：2022-12-29
申请号：US17359861
申请日：2021-06-28
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Xin Liu , Luyuan Lin , Brandon Douglas Luders
Abstract: Aspects of the disclosure may enable autonomous vehicles to respond to emergency vehicles. For instance, sensor data identifying an emergency vehicle approaching the autonomous vehicle may be received. A predicted trajectory for the emergency vehicle may be received. Whether the autonomous vehicle is impeding the emergency vehicle may be determined based on the predicted trajectory and map information identifying a road on which the autonomous vehicle is currently traveling. Based on a determination that the autonomous vehicle is impeding the emergency vehicle, the autonomous vehicle may be controlled in an autonomous driving mode in order to respond to the emergency vehicle.
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公开(公告)号：US12157501B2
公开(公告)日：2024-12-03
申请号：US17514766
申请日：2021-10-29
Applicant: Waymo LLC
Inventor： Aishwarya Parasuram , Alisha Saxena , Anoosha Sagar , Kai Ding , Stéphane Ross , Xin Liu
Abstract: 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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