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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
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.
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公开(公告)号：US20210191395A1
公开(公告)日：2021-06-24
申请号：US16723787
申请日：2019-12-20
Applicant: Waymo LLC
Inventor： Jiyang Gao , Junhua Mao , Yi Shen , Congcong Li , Chen Sun
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating vehicle intent predictions using a neural network. One of the methods includes obtaining an input characterizing one or more vehicles in an environment; generating, from the input, features of each of the vehicles; and for each of the vehicles: processing the features of the vehicle using each of a plurality of intent-specific neural networks, wherein each of the intent-specific neural networks corresponds to a respective intent from a set of intents, and wherein each intent-specific neural network is configured to process the features of the vehicle to generate an output for the corresponding intent.
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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
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.
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Patent Agency Ranking
公开(公告)号：US12217168B2
公开(公告)日：2025-02-04
申请号：US17099656
申请日：2020-11-16
Applicant: Waymo LLC
Inventor： Jiyang Gao , Yi Shen , Hang Zhao , Chen Sun
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using vectorized inputs.
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公开(公告)号：US20210150350A1
公开(公告)日：2021-05-20
申请号：US17099656
申请日：2020-11-16
Applicant: Waymo LLC
Inventor： Jiyang Gao , Yi Shen , Hang Zhao , Chen Sun
IPC: G06N3/08
Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using vectorized inputs.
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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
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.
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公开(公告)号：US20220402520A1
公开(公告)日：2022-12-22
申请号：US17349489
申请日：2021-06-16
Applicant: Waymo LLC
Inventor： Congrui Hetang , Yi Shen , Youjie Zhou , Jiyang Gao
Abstract: A system includes a memory device, and a processing device, operatively coupled to the memory device, to receive a set of input data including a roadgraph, the roadgraph including an autonomous vehicle driving path, modify the roadgraph to obtain a modified roadgraph by adjusting a trajectory of the autonomous vehicle driving path, place a set of artifacts along one or more lane boundaries of the modified roadgraph to generate a synthetic scene, and train a machine learning model used to navigate an autonomous vehicle based on the synthetic scene.
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公开(公告)号：US11480963B2
公开(公告)日：2022-10-25
申请号：US16723787
申请日：2019-12-20
Applicant: Waymo LLC
Inventor： Jiyang Gao , Junhua Mao , Yi Shen , Congcong Li , Chen Sun
Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for generating vehicle intent predictions using a neural network. One of the methods includes obtaining an input characterizing one or more vehicles in an environment; generating, from the input, features of each of the vehicles; and for each of the vehicles: processing the features of the vehicle using each of a plurality of intent-specific neural networks, wherein each of the intent-specific neural networks corresponds to a respective intent from a set of intents, and wherein each intent-specific neural network is configured to process the features of the vehicle to generate an output for the corresponding intent.
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