US 12,073,244 B2
Task scheduling for agent prediction
Tacettin Dogacan Guney, San Jose, CA (US); Kai Ding, Santa Clara, CA (US); and Olivier Gravel Aubin, Calgary (CA)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jul. 21, 2020, as Appl. No. 16/935,057.
Prior Publication US 2022/0027193 A1, Jan. 27, 2022
Int. Cl. G06F 9/48 (2006.01); B60K 31/00 (2006.01); G06F 9/38 (2018.01); G06F 9/50 (2006.01); G06N 5/00 (2023.01); G06N 20/00 (2019.01)
CPC G06F 9/4881 (2013.01) [B60K 31/00 (2013.01); B60K 31/0008 (2013.01); G06F 9/3851 (2013.01); G06F 9/48 (2013.01); G06F 9/4806 (2013.01); G06F 9/4843 (2013.01); G06F 9/50 (2013.01); G06F 9/5005 (2013.01); G06F 9/5027 (2013.01); G06F 9/5038 (2013.01); G06F 9/5044 (2013.01); G06F 9/5094 (2013.01); G06N 5/00 (2013.01); G06N 20/00 (2019.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising, at each of a plurality of time steps:
receiving data that characterizes an environment in a vicinity of a vehicle at a current time step, the environment comprising a plurality of agents;
receiving data that identifies, as high-priority agents, a proper subset of the plurality of agents for which respective data characterizing the agents must be generated at the current time step;
identifying computing resources provided by data processing computer hardware on-board the vehicle that are available for executing a task on-board the vehicle, the task comprising generating the respective data characterizing the high-priority agents in the environment in the vicinity of the vehicle at the current time step;
processing the data that characterizes the environment using a complexity scoring machine learning model to determine one or more respective complexity scores for each of the high-priority agents, each respective complexity score characterizing an estimated amount of computing resources that is required for executing the task on-board the vehicle;
determining, based on the complexity scores, a schedule for the current time step that allocates the execution of the task across the available computing resources that are provided by the data processing computer hardware on-board the vehicle; and
allocating, in accordance with the schedule, the execution of the task across the available computing resources that are provided by the data processing computer hardware on-board the vehicle.