Methods, computer systems, and apparatus, including computer programs encoded on a computer storage medium, for predicting future trajectories of agents in an environment. A system obtains scene context data characterizing an environment. The scene context data includes data characterizing a trajectory of an agent in the vicinity of the vehicle in the environment up to a current point in time. A system identifies a plurality of initial target locations in an environment. The system also generates a respective predicted likelihood score for each of the plurality of target locations, each target location corresponding to one of the initial target locations, the predicted likelihood score representing a likelihood that the target location will be an expected final location of the future trajectory of the proxy starting from the current point in time. For each target location in the first subset of target locations, the system generates a predicted future trajectory of the agent that is a prediction of the future trajectory of the agent given that the target location is an expected final location of the future trajectory. The system also selects possible future trajectories that predict one or more of the future trajectories as a proxy from the current point in time.

    用于预测环境中代理的未来轨迹的方法、计算机系统和装置,包括编码在计算机存储介质上的计算机程序。系统获得表征环境的场景上下文数据。场景上下文数据包括表征直到当前时间点的环境中载具的附近的代理的轨迹的数据。系统识别环境中的多个初始目标位置。系统还为多个目标位置中的每一个生成相应的预测可能性得分,每一个目标位置对应于初始目标位置中的一个,预测可能性得分表示目标位置将是从当前时间点开始的代理的未来轨迹的预期最终位置的可能性。针对目标位置的第一子集中的每个目标位置,系统生成代理的预测未来轨迹,该预测未来轨迹是给定目标位置是未来轨迹的预期最终位置的情况下对代理的未来轨迹的预测。系统还选择预测未来轨迹中的一个或多个作为从当前时间点开始的代理的可能的未来轨迹。


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    Title :

    Proxy trajectory prediction using target location


    Additional title:

    使用目标位置的代理轨迹预测


    Contributors:
    ZHAO XING (author) / GAO JIYANG (author) / SUN CHAO (author) / SHEN YUELIN (author) / CHAI YING (author) / SCHMID CHRISTIAN L (author) / LEE CHULKYU (author) / SAPP BRIAN (author) / ANGELOV DMITRY (author) / LANG TORSTEN (author)

    Publication date :

    2023-05-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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