METHOD AND SYSTEM FOR FEASIBILITY-BASED OPERATION OF AN AUTONOMOUS AGENT
The method can include: receiving a set of inputs; determining a set of policies based on the set of inputs; determining a set of scores associated with the set of environmental policies; and evaluating the set of policies. Additionally or alternatively, the method can include operating the ego agent according to a selected policy and/or any other processes. The method functions to facilitate scoring of policies based on ‘feasibility’ for agents in an environment. Additionally or alternatively, the method can function to facilitate autonomous operation of a vehicle (e.g., based on policy-feasibility of agents in the environment). Additionally or alternatively, the method can function to facilitate intention estimation for agents in an environment.
1 . A method of operation of an autonomous vehicle in an environment, comprising:
determining a set of inputs using a sensor suite of the autonomous vehicle, the set of inputs comprising an environmental agent instance identifier and a state history associated with the environmental agent instance identifier;
based on the set of inputs, determining a set of environmental policies for the environmental agent instance identifier;
for each environmental policy of the set:
determining a historical score by comparing a state history of the environmental agent to a reference trajectory associated with the environmental policy; and
determining a feasibility score by a forward simulation of the environmental policy; and
determining an ego policy by evaluating a set of ego policies for the autonomous vehicle relative to the set of environmental policies, based on the feasibility scores and the historical scores; and
operating the autonomous vehicle based on the ego policy.