Chi C Lam

US Patent:

20210132619, May 6, 2021

Filed:

Nov 6, 2019

Appl. No.:

16/676379

Inventors:

- Mountain View CA, US
Chi Pang Lam - San Mateo CA, US

International Classification:

G05D 1/02
G06N 3/04
G06N 3/08
G05D 1/00
G01C 21/34

Abstract:

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating cut-in probabilities of agents surrounding a vehicle. One of the methods includes obtaining agent trajectory data for one or more agents in an environment; obtaining vehicle trajectory data of a vehicle in the environment; and processing a network input generated from the agent trajectory data and vehicle trajectory data using a neural network to generate a cut-in output, wherein the cut-in output comprises respective cut-in probabilities for each of a plurality of locations in the environment, wherein the respective cut-in probability for each location that is a current location of one of the one or more agents characterizes a likelihood that the agent in the current location will intersect with a planned future location of the vehicle within a predetermined amount of time.