US 12,441,358 B2
Multi-head machine learning model for processing multi-sensor data
Pranay Agrawal, San Jose, CA (US)
Assigned to GM CRUISE HOLDINGS LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Jan. 24, 2023, as Appl. No. 18/158,973.
Prior Publication US 2024/0246559 A1, Jul. 25, 2024
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/001 (2020.02) [B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4048 (2020.02); B60W 2554/4049 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by a machine learning model configured to perform object detection, sensor data corresponding to one or more sensors on an autonomous vehicle;
determining, based on the sensor data, a first object prediction by a first detection head of the machine learning model, wherein the first detection head is configured to generate the first object prediction based on a first input from a first sensor from the one or more sensors; and
determining, based on the sensor data, a second object prediction by a second detection head of the machine learning model, wherein the second detection head is configured to generate the second object prediction based on a fusion of the first input from the first sensor and a second input from a second sensor from the one or more sensors; and
maneuvering the autonomous vehicle based at least in part on the first object prediction and the second object prediction.