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

Claim 8:
9. A 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:
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.