CPC B60W 30/0956 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G05D 2201/0213 (2013.01)] | 20 Claims |
1. A method performed by one or more data processing apparatus, the method comprising:
generating, using an importance scoring model and for each of a plurality of agents currently located at respective locations in an environment in a vicinity of a vehicle, a respective importance score for the agent that characterizes an estimated impact of the agent on planning decisions generated by a planning system of the vehicle which plans a future trajectory of the vehicle;
selecting, for one or more of the agents, a respective prediction model for use in generating data characterizing the agent based on the importance score for the agent, comprising:
identifying a proper subset of the plurality of agents as high-priority agents based on their respective importance scores, comprising:
identifying one or more agents of the plurality of agents as having highest importance scores from among the plurality of agents;
designating the one or more agents identified as having the highest importance scores from among the plurality of agents as being high-priority agents;
selecting, for only those agents of the plurality of agents that are identified as high-priority agents based on their respective importance scores, a first prediction model for use in generating data characterizing the agent; and
generating, for each of the high-priority agents, data characterizing the agent using the first prediction model selected for the agent; and
providing the data characterizing the high-priority agents generated using the first prediction model to the planning system of the vehicle to generate the planning decisions which plan the future trajectory of the vehicle.
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