| CPC G05D 1/0088 (2013.01) [G05D 1/0214 (2013.01); G06N 3/08 (2013.01); G05D 2201/0213 (2013.01)] | 20 Claims |
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19. A system, comprising:
a data processing apparatus; and
a memory in communication with the data processing apparatus and storing instructions that, when executed, cause the data processing apparatus to perform operations comprising:
identifying a plurality of agents in a vicinity of a vehicle;
determining a first set of importance scores, wherein each importance score in the first set indicates an estimated relevance of a different agent from the plurality of agents on planning decisions of the vehicle;
determining one or more second sets of importance scores, wherein each second set is determined by assigning a different agent from the plurality of agents as a reference agent for the second set, and each importance score in each second set indicates an estimated relevance of a different non-reference agent or the vehicle on planning decisions of the reference agent;
determining a set of mutual importance scores based on the first set of importance scores and the one or more second sets of importance scores, wherein each mutual importance score indicates an estimated mutual relevance between the vehicle and a different agent from the plurality of agents on planning decisions of the other;
using at least one score from the set of mutual importance scores to plan a movement for the vehicle; and
executing the movement that was planned for the vehicle to cause the vehicle to drive in accordance with the movement.
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