Method and system for personalized car following with transformers

A remote computing device comprising a controller programmed to:

• determine a vectorized representation of positions of road agents and road geometry based on sensor data from a vehicle;
• input the vectorized representation of the positions of the road agents and the road geometry into a trained transformer network;
• predict one or more road agent trajectories at one or more future time steps based on an output of the transformer network;
• predict an acceleration of the vehicle at the one or more future time steps based on the predicted one or more road agent trajectories at the one or more future time steps;
• and
• cause the vehicle to perform the predicted acceleration at the one or more future time steps.

A system comprising:

• a vehicle comprising one or more vehicle sensors configured to collect sensor data comprising positions of road agents at a plurality of time steps and road geometry;
• and
• a remote computing device comprising a controller programmed to:
• determine a vectorized representation of the positions of the road agents and the road geometry based on the sensor data from the vehicle;
• input the vectorized representation of the positions of the road agents and the road geometry into a trained transformer network;
• predict one or more road agent trajectories at one or more future time steps based on an output of the transformer network;
• and
• predict an acceleration of the vehicle at the one or more future time steps based on the predicted one or more road agent trajectories at the one or more future time steps,
• the vehicle configured to:
• receive the predicted acceleration and perform the predicted acceleration at the one or more future time steps.