公开(公告)号：US20190033085A1

公开(公告)日：2019-01-31

申请号：US15662007

申请日：2017-07-27

Applicant: Waymo LLC

Inventor： Abhijit Ogale ,  Mayank Bansal ,  Alexander Krizhevsky

IPC: G01C21/34 ,  G06N3/08 ,  G01C21/36

Abstract: Systems, methods, devices, and other techniques for planning a trajectory of a vehicle. A computing system can implement a trajectory planning neural network configured to, at each time step of multiple time steps: obtain a first neural network input and a second neural network input. The first neural network input can characterize a set of waypoints indicated by the waypoint data, and the second neural network input can characterize (a) environmental data that represents a current state of an environment of the vehicle and (b) navigation data that represents a planned navigation route for the vehicle. The trajectory planning neural network may process the first neural network input and the second neural network input to generate a set of output scores, where each output score in the set of output scores corresponds to a different location of a set of possible locations in a vicinity of the vehicle.

公开(公告)号：US12097889B2

公开(公告)日：2024-09-24

申请号：US18194882

申请日：2023-04-03

Applicant: Waymo LLC

Inventor： Yuning Chai ,  Benjamin Sapp ,  Mayank Bansal ,  Dragomir Anguelov

IPC: B60W60/00 ,  G06F18/214 ,  G06N3/08 ,  G06V10/82 ,  G06V20/56

CPC classification number: B60W60/00274 ,  G06F18/214 ,  G06N3/08 ,  G06V10/82 ,  G06V20/56 ,  G06V20/588 ,  B60W2554/4041 ,  B60W2554/4044

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using anchor trajectories.

公开(公告)号：US11727692B2

公开(公告)日：2023-08-15

申请号：US17555760

申请日：2021-12-20

Applicant: Waymo LLC

Inventor： Mayank Bansal

IPC: G06V20/58 ,  G06V10/25 ,  G06V10/20 ,  G06V10/75 ,  B60W40/02 ,  B60W30/10 ,  B60W40/10 ,  B60W60/00 ,  G05D1/02

CPC classification number: G06V20/58 ,  G05D1/0212 ,  G06V10/25 ,  G06V20/584 ,  G05D2201/0213

Abstract: Aspects of the disclosure relate to detecting an emergency vehicle. For instance, a plurality of images may be taken from a perspective of an autonomous vehicle. One or more gates representing a region of interest at a respective distance from the vehicle may be generated for the images. A plurality of lights may be detected within the one or more gates. A first candidate emergency vehicle may be identified from a detected plurality of lights in one or more gates of one of the images, and a second candidate emergency vehicle may be identified from a detected plurality of lights in one or more gates of another of the images. The first and second candidate emergency vehicles are determined to be the same emergency vehicle and to be active. An operational system of the autonomous vehicle is controlled based on the determination that the given emergency vehicle is active.

公开(公告)号：US11727690B2

公开(公告)日：2023-08-15

申请号：US16839693

申请日：2020-04-03

Applicant: Waymo LLC

Inventor： Mayank Bansal ,  Dragomir Anguelov

IPC: B60W60/00 ,  G06V20/58 ,  G06V20/10 ,  G06N3/045 ,  G06N3/047 ,  G06V10/764 ,  G06V10/82

CPC classification number: G06V20/58 ,  B60W60/00259 ,  B60W60/00274 ,  G06N3/045 ,  G06N3/047 ,  G06V10/764 ,  G06V10/82 ,  G06V20/10

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting occupancies of agents. One of the methods includes obtaining scene data characterizing a current scene in an environment; and processing a neural network input comprising the scene data using a neural network to generate a neural network output, wherein: the neural network output comprises respective occupancy outputs corresponding to a plurality of agent types at one or more future time points; the occupancy output for each agent type at a first future time point comprises respective occupancy probabilities for a plurality of locations in the environment; and in the occupancy output for each agent type at the first future time point, the respective occupancy probability for each location characterizes a likelihood that an agent of the agent type will occupy the location at the first future time point.

公开(公告)号：US11676398B2

公开(公告)日：2023-06-13

申请号：US17555760

申请日：2021-12-20

Applicant: Waymo LLC

Inventor： Mayank Bansal

IPC: G06V20/58 ,  G06V10/25 ,  G06V10/20 ,  G06V10/75 ,  B60W40/02 ,  B60W30/10 ,  B60W40/10 ,  B60W60/00 ,  G05D1/02

CPC classification number: G06V20/58 ,  G05D1/0212 ,  G06V10/25 ,  G06V20/584 ,  G05D2201/0213

Abstract: Aspects of the disclosure relate to detecting an emergency vehicle. For instance, a plurality of images may be taken from a perspective of an autonomous vehicle. One or more gates representing a region of interest at a respective distance from the vehicle may be generated for the images. A plurality of lights may be detected within the one or more gates. A first candidate emergency vehicle may be identified from a detected plurality of lights in one or more gates of one of the images, and a second candidate emergency vehicle may be identified from a detected plurality of lights in one or more gates of another of the images. The first and second candidate emergency vehicles are determined to be the same emergency vehicle and to be active. An operational system of the autonomous vehicle is controlled based on the determination that the given emergency vehicle is active.

公开(公告)号：US20220253066A1

公开(公告)日：2022-08-11

申请号：US17731703

申请日：2022-04-28

Applicant: WAYMO LLC

Inventor： Mayank Bansal

IPC: G05D1/02 ,  G05D1/00 ,  G06T7/55 ,  G06V20/58

Abstract: Aspects of the disclosure relate to verifying the location of an object of a particular type. For instance, a plurality of images of an environment of the vehicle may be received. Associated objects of the particular type may be identified in ones of the plurality of images. A plurality of estimated locations may be determined for the object using a plurality of different localization techniques. For each image of the ones of the plurality of images, determine a reprojection error for each of the plurality of estimated locations. For each of the plurality of estimated locations, an error score is determined based on the reprojection errors. An estimated location may be selected from the plurality of estimated locations based on the determined error score. This selected location may be used to control a vehicle in an autonomous driving mode.

公开(公告)号：US11618481B2

公开(公告)日：2023-04-04

申请号：US16919872

申请日：2020-07-02

Applicant: Waymo LLC

Inventor： Yuning Chai ,  Benjamin Sapp ,  Mayank Bansal ,  Dragomir Anguelov

IPC: B60W60/00 ,  G06K9/62 ,  G06N3/08 ,  G06V20/56

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using anchor trajectories.

公开(公告)号：US20220130133A1

公开(公告)日：2022-04-28

申请号：US17555760

申请日：2021-12-20

Applicant: Waymo LLC

Inventor： Mayank Bansal

IPC: G06V10/75 ,  G05D1/02 ,  G06V10/20 ,  G06V20/58

Abstract: Aspects of the disclosure relate to detecting an emergency vehicle. For instance, a plurality of images may be taken from a perspective of an autonomous vehicle. One or more gates representing a region of interest at a respective distance from the vehicle may be generated for the images. A plurality of lights may be detected within the one or more gates. A first candidate emergency vehicle may be identified from a detected plurality of lights in one or more gates of one of the images, and a second candidate emergency vehicle may be identified from a detected plurality of lights in one or more gates of another of the images. The first and second candidate emergency vehicles are determined to be the same emergency vehicle and to be active. An operational system of the autonomous vehicle is controlled based on the determination that the given emergency vehicle is active.

公开(公告)号：US20210312177A1

公开(公告)日：2021-10-07

申请号：US16839693

申请日：2020-04-03

Applicant: Waymo LLC

Inventor： Mayank Bansal ,  Dragomir Anguelov

IPC: G06K9/00 ,  G06N3/04 ,  B60W60/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting occupancies of agents. One of the methods includes obtaining scene data characterizing a current scene in an environment; and processing a neural network input comprising the scene data using a neural network to generate a neural network output, wherein: the neural network output comprises respective occupancy outputs corresponding to a plurality of agent types at one or more future time points; the occupancy output for each agent type at a first future time point comprises respective occupancy probabilities for a plurality of locations in the environment; and in the occupancy output for each agent type at the first future time point, the respective occupancy probability for each location characterizes a likelihood that an agent of the agent type will occupy the location at the first future time point.

公开(公告)号：US20210078594A1

公开(公告)日：2021-03-18

申请号：US17020399

申请日：2020-09-14

Applicant: Waymo LLC

Inventor： Mayank Bansal ,  Jinkyu Kim

IPC: B60W60/00 ,  G06K9/00 ,  G06K9/62 ,  G01C21/34 ,  G01C21/36 ,  G01C21/30 ,  G01C21/00

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for planning a trajectory of a vehicle. One of the methods includes obtaining input data for planning a driving trajectory for a vehicle, the input data comprising an intended route for the vehicle and data characterizing an environment in a vicinity of the vehicle; processing the input data using an input encoder neural network to generate feature data that includes a respective feature representation for each of a plurality of locations in the environment; applying spatial attention to the feature representations to generate a respective attention weight for each of the plurality of locations; generating a respective attended feature representation for each of the plurality of locations; generating a bottlenecked representation of the attended feature representations; and generating a planned future trajectory from at least the bottlenecked representation.