INTERACTION PREDICTION BASED ON TRACKING TRAJECTORY

Techniques for predicting and avoiding collisions with objects detected in an environment of a vehicle are discussed herein. A vehicle computing device can implement a model that receives a set of potential reference trajectories for a vehicle to follow at a future time. The model can determine a tracking trajectory for the vehicle to follow while changing between a first reference trajectory and a second reference trajectory. The model may be implemented in connection with a parallel processing unit to determine points defining the tracking trajectory that represent spatial and temporal differences. The tracking trajectory can be used by the vehicle computing device for predicting vehicle actions by the vehicle computing device to control the vehicle.