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

Claim 13:
14. A system for training a machine learning model that is configured to process a model input comprising (i) features of an input lane segment and (ii) features of an input agent at a current time point to generate a score for the input lane segment that represents a likelihood that the lane segment will be a first lane segment traversed by the input agent after the current time point, the system comprising one or more computers and one or more storage devices storing instructions that when executed by the one or more computers cause the one or more computers to perform operations comprising:
generating training data for training the machine learning model, comprising:
receiving data identifying a ground truth trajectory of a first agent after a first time point;
identifying a plurality of candidate lane segments that are in a vicinity of the first agent at the first time point;
generating, for each of the candidate lane segments, one or more candidate future trajectories for the first agent after the first point;
determining a respective similarity measure between the ground truth trajectory and each of the candidate future trajectories;
identifying, from the candidate future trajectories, a candidate future trajectory that is most similar to the ground truth trajectory according to the respective similarity measures; and
identifying, as a positive training example, a training example that includes (i) features of the candidate lane segment corresponding to the identified future trajectory and (ii) features of the first agent at the first time point.