US 11,675,362 B1
Methods and systems for agent prioritization
Bence Cserna, Boston, MA (US); Juraj Kabzan, Boston, MA (US); Kevin C. Gall, Boston, MA (US); Thomas Kølbæk Jespersen, Boston, MA (US); Gianmarco Alessandro Bernasconi, Boston, MA (US); and Henggang Cui, Boston, MA (US)
Assigned to MOTIONAL AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Dec. 17, 2021, as Appl. No. 17/553,857.
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01)
CPC G05D 1/0221 (2013.01) [G05D 1/0011 (2013.01); G05D 1/0088 (2013.01); G05D 1/0276 (2013.01)] 29 Claims
OG exemplary drawing
 
1. A method for operating an autonomous vehicle, the method comprising:
obtaining, by at least one processor, sensor data associated with an environment in which an autonomous vehicle is operating;
determining, by the at least one processor, based on the sensor data, an agent set comprising a plurality of agents located in the environment;
determining, by the at least one processor, for each agent of the agent set, an interaction parameter indicative of a prediction of interaction of a corresponding agent with the autonomous vehicle;
determining, by the at least one processor, based on the interaction parameters, a primary agent set, wherein the primary agent set is a subset of the agent set;
determining, by the at least one processor, based on the interaction parameters, a secondary agent set, wherein the primary agent set and the secondary agent set are mutually exclusive subsets of the agent set;
generating, by the at least one processor, based on the primary agent set, a trajectory for the autonomous vehicle; and
providing, based on the trajectory, control data to cause operation of the autonomous vehicle;
wherein determining, based on the interaction parameters, the primary agent set comprises determining the primary agent set by discarding one or more agents of the agent set based on the interaction parameter.