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

Claim 5:
6. A method of 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 method 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.