Consider the project developed by Google, codenamed Waymo. Waymo has successfully deployed self$-$driving cars with advanced sensors and implemented AI$-$based model algorithms in their decision$-$making process. These autonomous vehicles navigate the roads, making decisions based on percept history and real$-$time sensory input $-$ the ability to make informed decisions based on historical data and real$-$time perceptual input received from the environments. Identify the most suitable model and explain how it fits this scenario where a decision has been made based on the perception of events that happened.