US 12,325,452 B1
Agent trajectory prediction using dynamic candidate future intents
Benjamin Sapp, Marina del Rey, CA (US); Avikalp Srivastava, Sunnyvale, CA (US); Kai Ding, Santa Clara, CA (US); Andre Liang Cornman, San Francisco, CA (US); and Hee Jin Jeong, San Francisco, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Sep. 1, 2022, as Appl. No. 17/901,747.
Claims priority of provisional application 63/239,449, filed on Sep. 1, 2021.
Int. Cl. B60W 60/00 (2020.01); B60W 40/04 (2006.01); B60W 40/06 (2012.01); B60W 50/00 (2006.01); G06N 3/084 (2023.01)
CPC B60W 60/00274 (2020.02) [B60W 40/04 (2013.01); B60W 40/06 (2013.01); B60W 50/0097 (2013.01); B60W 60/0011 (2020.02); G06N 3/084 (2013.01); B60W 2554/4045 (2020.02); B60W 2554/4046 (2020.02); B60W 2554/80 (2020.02); B60W 2556/10 (2020.02); B60W 2556/35 (2020.02)] 21 Claims
OG exemplary drawing
 
1. A method performed by one or more computers, the method comprising:
obtaining scene data characterizing a scene in an environment that includes one or more agents at a current time point, the one or more agents including a target agent;
receiving, for each of a plurality of candidate future intents for the target agent after the current time point, respective intent data that characterizes the candidate future intent;
processing the scene data using a scene encoder neural network to generate an encoded representation of the scene data;
processing the respective intent data for each of the candidate future intents using a candidate encoder neural network to generate a respective encoded representation of each of the candidate future intents; and
processing the encoded representation of the scene data and the respective encoded representations of each of the candidate future intents using a predictor neural network to generate a respective trajectory prediction output that comprises a respective future trajectory prediction for each of the respective candidate future intents; and
causing an autonomous vehicle to follow a planned path using the respective prediction output.