Hierarchical Vehicle Action Prediction

This application is directed to predicting vehicle actions according to a hierarchy of interconnected vehicle actions. The hierarchy of interconnected vehicle actions includes a plurality of predefined vehicle actions that are organized to define a plurality of vehicle action sequences. A first vehicle obtains one or more images of a road and a second vehicle, and predicts a sequence of vehicle actions of the second vehicle through the hierarchy of interconnected vehicle actions using the one or more images. The first vehicle is controlled to drive at least partially autonomously based on the predicted sequence of vehicle actions of the second vehicle. In some embodiments, the hierarchy of interconnected vehicle actions includes a first action level that is defined according to a stage of a trip and corresponds to three predefined vehicle actions of: “start a trip,” “move in a trip,” and “complete a trip.”