Patent ID: 11873011
Assignee: WAYMO LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A method performed by one or more computers, the method comprising:
obtaining scene data characterizing a scene in an environment at a current time point, wherein the scene data includes features characterizing a target agent in the environment and respective features of a plurality of lane segments of one or more lanes on one or more roadways in the environment;
for each of the plurality of lane segments, processing a model input comprising (i) features of the lane segment and (ii) features of the target agent using a machine learning model to generate a respective score for the lane segment that represents a likelihood that the lane segment will be an immediate next lane segment that the target agent transitions to from a current lane segment that the target agent is traversing at the current time point;
selecting, as a set of seed lane segments, a proper subset of the plurality of lane segments based on the respective scores; and
generating, using the set of seed lane segments, a plurality of candidate future trajectories for the target agent.