US 12,441,366 B2
Task-relevant failure detection for trajectory prediction in machines
Alec Farid, Princeton, NJ (US); Sushant Veer, Sunnyvale, CA (US); Boris Ivanovic, Mountain View, CA (US); Karen Yan Ming Leung, Los Altos, CA (US); and Marco Pavone, Stanford, CA (US)
Assigned to NVIDIA Corporation, Santa Clara, CA (US)
Filed by NVIDIA Corporation, Santa Clara, CA (US)
Filed on Mar. 14, 2023, as Appl. No. 18/183,582.
Claims priority of provisional application 63/359,416, filed on Jul. 8, 2022.
Prior Publication US 2024/0017743 A1, Jan. 18, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 30/09 (2012.01)
CPC B60W 60/0016 (2020.02) [B60W 30/09 (2013.01); B60W 60/00272 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processing units to perform operations including:
computing, using sensor data generated using one or more sensors, a predicted trajectory of an actor in an environment and one or more observed locations of the actor in the environment;
determining based at least on a planned trajectory for a vehicle in the environment, a cost probability distribution indicating cost values across different potential locations for the actor relative to the predicted trajectory, the different potential locations corresponding to a future position distribution associated with the predicted trajectory for the actor;
performing anomaly detection based at least on comparing an observed cost corresponding to the one or more observed locations of the actor in the environment to the cost probability distribution; and
performing one or more control operations for the vehicle based at least on one or more results of the anomaly detection.