Ranking agents near autonomous vehicles by mutual importance
AssigneeWaymo LLC
InventorsKai Ding, Minfa Wang, Haoyu Chen, Khaled Refaat, Stephane Ross, Wei Chai
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Abstract
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for identifying high-priority agents in the vicinity of a vehicle. The high-priority agents can be identified based on a set of mutual importance scores in which each mutual importance score indicates an estimated mutual relevance between the vehicle and a different agent from a set of agents on planning decisions of the other. The mutual importance scores can be calculated based on importance scores assessed from the perspectives of both the vehicle and the agents.
Claims20
A method performed by one or more data processing apparatus, the method comprising:
- identifying a plurality of agents in a vicinity of a vehicle;
- determining a first set of importance scores, wherein each importance score in the first set indicates an estimated relevance of a different agent from the plurality of agents on planning decisions of the vehicle;
- determining one or more second sets of importance scores, wherein each second set is determined by assigning a different agent from the plurality of agents as a reference agent for the second set, and each importance score in each second set indicates an estimated relevance of a different non-reference agent or the vehicle on planning decisions of the reference agent;
- determining a set of mutual importance scores based on the first set of importance scores and the one or more second sets of importance scores, wherein each mutual importance score indicates an estimated mutual relevance between the vehicle and a different agent from the plurality of agents on planning decisions of the other;
- using at least one score from the set of mutual importance scores to plan a movement for the vehicle;
- and
- executing the movement that was planned for the vehicle to cause the vehicle to drive in accordance with the movement.
A system, comprising:
- a data processing apparatus;
- and
- a memory in communication with the data processing apparatus and storing instructions that, when executed, cause the data processing apparatus to perform operations comprising:
- identifying a plurality of agents in a vicinity of a vehicle;
- determining a first set of importance scores, wherein each importance score in the first set indicates an estimated relevance of a different agent from the plurality of agents on planning decisions of the vehicle;
- determining one or more second sets of importance scores, wherein each second set is determined by assigning a different agent from the plurality of agents as a reference agent for the second set, and each importance score in each second set indicates an estimated relevance of a different non-reference agent or the vehicle on planning decisions of the reference agent;
- determining a set of mutual importance scores based on the first set of importance scores and the one or more second sets of importance scores, wherein each mutual importance score indicates an estimated mutual relevance between the vehicle and a different agent from the plurality of agents on planning decisions of the other;
- using at least one score from the set of mutual importance scores to plan a movement for the vehicle;
- and
- executing the movement that was planned for the vehicle to cause the vehicle to drive in accordance with the movement.
One or more non-transitory computer-readable storage media having instructions stored thereon that, when executed by data processing apparatus, cause the data processing apparatus to perform operations comprising:
- identifying a plurality of agents in a vicinity of a vehicle;
- determining a first set of importance scores, wherein each importance score in the first set indicates an estimated relevance of a different agent from the plurality of agents on planning decisions of the vehicle;
- determining one or more second sets of importance scores, wherein each second set is determined by assigning a different agent from the plurality of agents as a reference agent for the second set, and each importance score in each second set indicates an estimated relevance of a different non-reference agent or the vehicle on planning decisions of the reference agent;
- determining a set of mutual importance scores based on the first set of importance scores and the one or more second sets of importance scores, wherein each mutual importance score indicates an estimated mutual relevance between the vehicle and a different agent from the plurality of agents on planning decisions of the other;
- using at least one score from the set of mutual importance scores to plan a movement for the vehicle;
- and
- executing the movement that was planned for the vehicle to cause the vehicle to drive in accordance with the movement.
Dependencies are inferred from the claim text.