HUMAN-LIKE AUTONOMOUS VEHICLE BEHAVIOR BASED ON MAP PRIOR LAYER

Systems, methods, and devices are disclosed for predicting yield behaviors of objects (vehicles, bicycles, pedestrians, etc.) at a location. An autonomous vehicle located at a first road segment connecting to an intersection having a stop sign can detect a first vehicle approaching the intersection from a second road segment connecting to the intersection. Using a model indicating an average yield location and yield time where both are specific to the second road segment connecting to the intersection, the autonomous vehicle can predict that the first vehicle will yield at the average yield location that is specific to the second road segment.