Inventor
REFAAT KHALED
US31 patents
Patents
31 patentsUS11034348B2Jun 15, 2021
Agent prioritization for autonomous vehicles
WAYMO LLC10 citations85
US10969789B2Apr 6, 2021
Verifying predicted trajectories using a grid-based approach
WAYMO LLC7 citations84
US11851081B2Dec 26, 2023
Predictability-based autonomous vehicle trajectory assessments
WAYMO LLC9 citations83
US11003189B2May 11, 2021
Trajectory representation in behavior prediction systems
WAYMO LLC8 citations83
US10739777B2Aug 11, 2020
Trajectory representation in behavior prediction systems
WAYMO LLC9 citations83
US11950166B2Apr 2, 2024
Predicting occupancy probabilities of surrounding agents
WAYMO LLC3 citations74
US11657268B1May 23, 2023
Training neural networks to assign scores
WAYMO LLC6 citations74
US11586931B2Feb 21, 2023
Training trajectory scoring neural networks to accurately assign scores
WAYMO LLC4 citations74
US11753041B2Sep 12, 2023
Predicting behaviors of road agents using intermediate intention signals
WAYMO LLC3 citations73
US12071161B1Aug 27, 2024
Intervention behavior prediction
WAYMO LLC2 citations72
US11900224B2Feb 13, 2024
Generating trajectory labels from short-term intention and long-term result
WAYMO LLC2 citations72
US11586213B2Feb 21, 2023
Trajectory representation in behavior prediction systems
WAYMO LLC2 citations72
US11340622B2May 24, 2022
Determining respective impacts of agents
WAYMO LLC3 citations72
US11048253B2Jun 29, 2021
Agent prioritization for autonomous vehicles
WAYMO LLC3 citations72
US11687077B2Jun 27, 2023
Ranking agents near autonomous vehicles by mutual importance
WAYMO LLC2 citations71
US12204333B2Jan 21, 2025
Verifying predicted trajectories using a grid-based approach
WAYMO LLC1 citations64
US12275412B1Apr 15, 2025
Slice-based dynamic neural networks
WAYMO LLC0 citations62
US12168462B2Dec 17, 2024
Predicting behaviors of road agents using intermediate intention signals
WAYMO LLC0 citations62
US11938943B1Mar 26, 2024
Slice-based dynamic neural networks
WAYMO LLC0 citations62
US11829149B1Nov 28, 2023
Determining respective impacts of agents
WAYMO LLC0 citations62
US11815892B2Nov 14, 2023
Agent prioritization for autonomous vehicles
WAYMO LLC0 citations62
US11673550B2Jun 13, 2023
Agent prioritization for autonomous vehicles
WAYMO LLC1 citations62
US11977382B2May 7, 2024
Ranking agents near autonomous vehicles by mutual importance
WAYMO LLC0 citations60
US12461532B2Nov 4, 2025
Robust behavior prediction neural networks through non-causal agent based augmentation
WAYMO LLC0 citations54
US12450469B1Oct 21, 2025
Anomaly estimation neural networks for behavior prediction
WAYMO LLC0 citations52
US11873011B2Jan 16, 2024
Labeling lane segments for behavior prediction for agents in an environment
WAYMO LLC0 citations52
US12420846B2Sep 23, 2025
Agent trajectory prediction using context-sensitive fusion
WAYMO LLC0 citations47
US11693415B2Jul 4, 2023
Predicting cut-in probabilities of surrounding agents
WAYMO LLC0 citations47
US12497081B2Dec 16, 2025
Pedestrian behavior prediction with 3D human keypoints
WAYMO LLC0 citations46
US12344273B2Jul 1, 2025
Pedestrian crossing intent yielding
WAYMO LLC0 citations45
US12497079B2Dec 16, 2025
Trajectory prediction using efficient attention neural networks
WAYMO LLC0 citations44