Joint intention and trajectory prediction

A system for joint intention and trajectory prediction, comprising:

• a memory storing one or more instructions;
• and
• a processor executing one or more of the instructions stored on the memory to perform:
• generating an intention prediction for an agent in an operating environment based on an intention predictor model, a set of bird's-eye view (BEV) features from a set of images associated with the agent, and a set of trajectory histories associated with the agent and one or more other agents;
• and
• generating a trajectory prediction for the agent based on a trajectory predictor model, the set of BEV features, and the set of trajectory histories.

A computer-implemented method for joint intention and trajectory prediction, comprising:

• generating an intention prediction for an agent in an operating environment based on an intention predictor model, a set of bird's-eye view (BEV) features from a set of images associated with the agent, and a set of trajectory histories associated with the agent and one or more other agents;
• generating a trajectory prediction for the agent based on a trajectory predictor model, the set of BEV features, and the set of trajectory histories;
• and
• controlling an actuator to operate a joint intention and trajectory prediction autonomous vehicle (AV) based on the trajectory prediction.