DETERMINING PREDICTION TIMES FOR A MODEL

Techniques for implementing a vehicle computing device to determine a time horizon for a prediction are described herein. For example, the techniques may include the vehicle computing device receiving sensor data from a sensor and using the sensor data to determine an amount of time in the future to make a prediction associated with an autonomous vehicle in a real-world environment or a simulated environment. The vehicle computing device can select or otherwise determine to use a model that is associated with a time period similar to the time horizon and output the prediction using the model. The vehicle computing device can transition between models as the autonomous vehicle navigates in an environment to predict potential interactions with an object in the environment as various times in the future.