公开(公告)号：US20210150199A1

公开(公告)日：2021-05-20

申请号：US17099642

申请日：2020-11-16

申请人： Waymo LLC

发明人： Junhua Mao ,  Jiyang Gao ,  Yukai Liu ,  Congcong Li ,  Zhishuai Zhang ,  Dragomir Anguelov

IPC分类号： G06K9/00 ,  G06K9/32 ,  G06K9/62 ,  B60W30/095

摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data using spatio-temporal-interactive networks.

公开(公告)号：US20230150550A1

公开(公告)日：2023-05-18

申请号：US17988701

申请日：2022-11-16

申请人： Waymo LLC

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

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

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

摘要： 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：US11610423B2

公开(公告)日：2023-03-21

申请号：US17099642

申请日：2020-11-16

申请人： Waymo LLC

发明人： Junhua Mao ,  Jiyang Gao ,  Yukai Liu ,  Congcong Li ,  Zhishuai Zhang ,  Dragomir Anguelov

IPC分类号： G06V40/10 ,  G06K9/62 ,  B60W30/095 ,  G06V10/25

摘要： Methods, systems, and apparatus, including computer programs encoded on computer storage media, for processing point cloud data using spatio-temporal-interactive networks.

公开(公告)号：US20230062158A1

公开(公告)日：2023-03-02

申请号：US17902670

申请日：2022-09-02

申请人： Waymo LLC

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

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

摘要： 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.