On-vehicle driving behavior modelling

A vehicle, comprising:

• a plurality of sensors;
• a vehicle control system;
• one or more processors;
• and
• memory storing one or more programs configured for execution by the one or more processors, the one or more programs comprising instructions for:
• collecting training data via the plurality of sensors, the training data including data for one or more vehicles during a collection period;
• locally at the vehicle, using machine learning to train a vehicle driving behavior model using the collected training data while the vehicle is charging or parked, wherein the vehicle driving behavior model is configured to predict a behavior of the one or more vehicles, and wherein computing resources otherwise used to at least partially autonomously drive the vehicle are used to train the vehicle driving behavior model while the vehicle is charging or parked;
• subsequently collecting sensor data from the plurality of sensors;
• and
• at least partially autonomously driving the vehicle using the computing resources, including applying the vehicle driving behavior model to predict vehicle behavior based on the collected sensor data.

A non-transitory computer-readable storage medium storing one or more programs configured for execution by one or more processors of a first vehicle, the first vehicle further including a plurality of sensors and a vehicle control system, the one or more programs comprising instructions for:

• collecting training data via the plurality of sensors, the training data including data for one or more vehicles during a collection period;
• locally at the first vehicle, using machine learning to train a vehicle driving behavior model using the collected training data while the first vehicle is charging or parked, wherein the vehicle driving behavior model is configured to predict a behavior of the one or more vehicles, and wherein computing resources otherwise used to at least partially autonomously drive the first vehicle are used to train the first vehicle driving behavior model while the vehicle is charging or parked;
• subsequently collecting sensor data from the plurality of sensors;
• and
• at least partially autonomously driving the first vehicle using the computing resource, including applying the vehicle driving behavior model to predict vehicle behavior based on the collected sensor data.