Assessing surprise for autonomous vehicles

US12017686B1 · kind B1 · utility

Assignee

• Waymo LLC · US

Inventors

• Azadeh Dinparastdjadid · Sunnyvale, US
• Johan Engstrom · Handen, SE
• Haoyu Chen · Hefei, CN
• Isaac Supeene · South San Francisco, US
• Menghui Wang · Shanghai, CN

Key dates

• Filing date: Aug 11, 2021
• Grant date: Jun 25, 2024
• Expiry date: Jun 2, 2042

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60W2554/404
• WIPO field: Control
• WIPO sector: Instruments

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for computing a backward looking surprise metric for autonomously driven vehicles. One of the methods includes obtaining first data representing one or more previously predicted states of an agent along one or more predicted trajectories of the agent at a first time step. Second data representing one or more states of the agent at a subsequent time step is obtained. A surprise score is computed from a measure of a difference between the first data computed for the one or more predicted trajectories for the prior time step and the second data computed for the one or more predicted states for the subsequent time step.