Conditional behavior prediction for autonomous vehicles
AssigneeWaymo LLC
InventorStephane Ross
Life of this patent
Estimating the term…
Abstract
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for conditional behavior prediction for agents in an environment. Conditional behavior predictions are made for agents navigating through the same environment as an autonomous vehicle that are conditioned on a planned future trajectory for the autonomous vehicle, e.g., as generated by a planning system of the autonomous vehicle.
Claims20
A method performed by one or more computers, the method comprising:
- obtaining scene data characterizing a scene in an environment at a current time point, wherein the scene includes at least a first agent and an autonomous vehicle navigating through the environment;
- obtaining data identifying a set of one or more planned trajectories of the autonomous vehicle navigating through an environment, wherein each planned trajectory is generated by a planning system of the autonomous vehicle, and wherein each planned trajectory identifies a planned path of the autonomous vehicle through the environment subsequent to the current time point;
- and
- generating, using a behavior prediction system and for each planned trajectory in the set, a conditional trajectory prediction for the first agent subsequent to the current time point conditioned on (i) the data characterizing the scene at the current time point and (ii) the planned trajectory of the autonomous vehicle.
A system comprising:
- one or more computers;
- and
- one or more storage devices storing instructions that, when executed by the one or more computers, cause the one or more computers to perform operations comprising:
- obtaining scene data characterizing a scene in an environment at a current time point, wherein the scene includes at least a first agent and an autonomous vehicle navigating through the environment;
- obtaining data identifying a set of one or more planned trajectories of the autonomous vehicle navigating through an environment, wherein each planned trajectory is generated by a planning system of the autonomous vehicle, and wherein each planned trajectory identifies a planned path of the autonomous vehicle through the environment subsequent to the current time point;
- and
- generating, using a behavior prediction system and for each planned trajectory in the set, a conditional trajectory prediction for the first agent subsequent to the current time point conditioned on (i) the data characterizing the scene at the current time point and (ii) the planned trajectory of the autonomous vehicle.
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:
- obtaining scene data characterizing a scene in an environment at a current time point, wherein the scene includes at least a first agent and an autonomous vehicle navigating through the environment;
- obtaining data identifying a set of one or more planned trajectories of the autonomous vehicle navigating through an environment, wherein each planned trajectory is generated by a planning system of the autonomous vehicle, and wherein each planned trajectory identifies a planned path of the autonomous vehicle through the environment subsequent to the current time point;
- and
- generating, using a behavior prediction system and for each planned trajectory in the set, a conditional trajectory prediction for the first agent subsequent to the current time point conditioned on (i) the data characterizing the scene at the current time point and (ii) the planned trajectory of the autonomous vehicle.
Dependencies are inferred from the claim text.