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US 12,217,168 B2Granted
Agent trajectory prediction using vectorized inputs
AssigneeWaymo LLC
InventorsJiyang Gao, Yi Shen, Hang Zhao, Chen Sun
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Abstract
Methods, systems, and apparatus, including computer programs encoded on computer storage media, for agent trajectory prediction using vectorized inputs.
Claims18
A method performed by one or more computers, the method comprising:
- receiving an input including (i) data characterizing observed trajectories for each of one or more agents in an environment and (ii) map features of a map of the environment;
- generating a respective polyline of each of the observed trajectories that represents the observed trajectory as a sequence of one or more vectors, comprising generating a respective vector for each of one or more time intervals during the observed trajectory, wherein each respective vector includes features of the observed trajectory during the corresponding time interval;
- generating a respective polyline of each of the features of the map that represents the feature as a sequence of one or more vectors;
- processing a network input comprising the (i) respective polylines of the observed trajectories and (ii) the respective polylines of each of the features of the map using an encoder neural network to generate polyline features for each of the one or more agents;
- for one or more of the agents, generating a predicted trajectory for the agent from the polyline features for the agent;
- and
- controlling a movement of a vehicle based on the trajectories predicted for the one or more agents.
4 more elements
A system comprising one or more computers and one or more storage devices storing instructions, when executed by the one or more computers, cause the one or more computers to perform operations comprising:
- receiving an input including (i) data characterizing observed trajectories for each of one or more agents in an environment and (ii) map features of a map of the environment;
- generating a respective polyline of each of the observed trajectories that represents the observed trajectory as a sequence of one or more vectors, comprising generating a respective vector for each of one or more time intervals during the observed trajectory, wherein each respective vector includes features of the observed trajectory during the corresponding time interval;
- generating a respective polyline of each of the features of the map that represents the feature as a sequence of one or more vectors;
- processing a network input comprising the (i) respective polylines of the observed trajectories and (ii) the respective polylines of each of the features of the map using an encoder neural network to generate polyline features for each of the one or more agents;
- for one or more of the agents, generating a predicted trajectory for the agent from the polyline features for the agent;
- and
- controlling a movement of a vehicle based on the trajectories predicted for the one or more agents.
4 more elements
One or more non-transitory computer-readable storage media storing instructions that, when executed by one or more computers, cause the one or more computers to perform operations comprising:
- receiving an input including (i) data characterizing observed trajectories for each of one or more agents in an environment and (ii) map features of a map of the environment;
- generating a respective polyline of each of the observed trajectories that represents the observed trajectory as a sequence of one or more vectors, comprising generating a respective vector for each of one or more time intervals during the observed trajectory, wherein each respective vector includes features of the observed trajectory during the corresponding time interval;
- generating a respective polyline of each of the features of the map that represents the feature as a sequence of one or more vectors;
- processing a network input comprising the (i) respective polylines of the observed trajectories and (ii) the respective polylines of each of the features of the map using an encoder neural network to generate polyline features for each of the one or more agents;
- for one or more of the agents, generating a predicted trajectory for the agent from the polyline features for the agent;
- and
- controlling a movement of a vehicle based on the trajectories predicted for the one or more agents.
4 more elements
Dependencies are inferred from the claim text.