Waymo LLC

Congrui Hetang

David Harrison Silver

Romain Thibaux

Ningshan Zhang

A system identifies a set of input data including a roadgraph identifying an intermediate autonomous vehicle (AV) driving path related to a scene representing an environment proximate an AV. The intermediate AV driving path reflects a modification to an initial (AV) driving path to avoid one or more obstacles obstructing the initial AV driving path. The system performs, using the set of input data, a path adjustment operation that identifies one or more candidate AV driving paths based on the intermediate AV driving path and determines a cost value for each of the candidate AV driving paths. The system identifies, among the candidate AV driving paths, a final AV driving path having a cost value that satisfies an evaluation criterion. The final AV driving path is to be included in the set of training data as a target output paired with training input including scene data identifying the scene.

Autonomous vehicle driving path label generation for machine learning models

The technology relates to approaches for determining appropriate stopping locations at intersections for vehicles operating in a self-driving mode. While many intersections have stop lines painted on the roadway, many others have no such lines. Even if a stop line is present, the physical location may not match what is in store map data, which may be out of date due to construction or line repainting. Aspects of the technology employ a neural network that utilizes input training data and detected sensor data to perform classification, localization and uncertain estimation processes. Based on these processes, the system is able to evaluate distribution information for possible stop locations. The vehicle uses such information to determine an optimal stop point, which may or may not correspond to a stop line in the map data. This information is also used to update the existing map data, which can be shared with other vehicles.

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Sunnyvale, CA, United States of America

Congrui Hetang