Road User Categorization Through Monitoring

An apparatus comprising:

• a memory configured to store a history of a first lateral-offset values of a road user within a first lane of a road, wherein the memory further configured to store a history of a second lateral-offset values of the road user within a second lane of the road;
• a processor configured to:
• determine a first pattern based on the history of the first lateral-offset values;
• determine a second pattern based on the history of the second lateral-offset values;
• wherein the processor configured to adjust an uncertainty associated with a driving behavior of the road user by comparing the first pattern and the second pattern;
• and
• wherein the processor configured to autonomously perform a driving maneuver based on the driving behavior.

A non-transitory computer-readable storage medium of a host vehicle, comprising executable instructions that, when executed by a processor, perform operations to:

• maintain a first history of first lateral-offset values of a road user within a first lane of a road;
• maintain a second history of second lateral-offset values of the road user within a second lane of the road;
• determine a first pattern based on the first history of the first lateral-offset values;
• determine a second pattern based on the second history of the second lateral-offset values;
• adjust an uncertainty associated with a driving behavior of the road user by comparing the first pattern and the second pattern;
• and
• autonomously perform a driving maneuver based on the driving behavior.