Waymo LLC

Honda Motor Co., Ltd.

University of California

Jinkyu Kim

Dragomir Dimitrov Anguelov

Teruhisa Misu

Yi-Ting Chen

Mayank Bansal

Mingxing Tan

Ashish Tawari

Reza Mahjourian

Yuning Chai

Benjamin Sapp

John Canny

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for predicting the future movement of agents in an environment. In particular, the future movement is predicted through occupancy flow fields that specify, for each future time point in a sequence of future time points and for each agent type in a set of one or more agent types: an occupancy prediction for the future time step that specifies, for each grid cell, an occupancy likelihood that any agent of the agent type will occupy the grid cell at the future time point, and a motion flow prediction that specifies, for each grid cell, a motion vector that represents predicted motion of agents of the agent type within the grid cell at the future time point.

Predicting the future movement of agents in an environment using occupancy flow fields

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for planning a trajectory of a vehicle. One of the methods includes obtaining input data for planning a driving trajectory for a vehicle, the input data comprising an intended route for the vehicle and data characterizing an environment in a vicinity of the vehicle; processing the input data using an input encoder neural network to generate feature data that includes a respective feature representation for each of a plurality of locations in the environment; applying spatial attention to the feature representations to generate a respective attention weight for each of the plurality of locations; generating a respective attended feature representation for each of the plurality of locations; generating a bottlenecked representation of the attended feature representations; and generating a planned future trajectory from at least the bottlenecked representation.

Neural networks with attention al bottlenecks for trajectory planning

Aspects of the present disclosure may include methods, apparatuses, and computer readable media for receiving one or more images having a plurality of objects, receiving a notification from an occupant of the self-driving vehicle, generating an attention map highlighting the plurality of objects based on at least one of the one or more images and the notification, and providing at least one of a steering control or a velocity control to operate the self-driving vehicle based on the attention map and the notification.

Methods and apparatuses for operating a self-driving vehicle

Growing community of inventors

Albany, CA, United States of America

Jinkyu Kim