Controlling an autonomous vehicle based on independent driving decisions

A non-transitory computer-readable medium storing thereon instructions executable by one or more processors to implement an aggregate self-driving control architecture for controlling an autonomous vehicle, the aggregate self-driving control architecture comprising:

• a plurality of self-driving control architectures each including a different one of a plurality of motion planners, wherein each of the motion planners is configured to receive signals descriptive of a current state of an environment through which the autonomous vehicle is moving, and wherein each of the plurality of self-driving control architectures is configured to generate candidate decisions for controlling the autonomous vehicle by using the motion planner included in the self-driving control architecture to process the received signals;
• and
• a decision arbiter configured to (i) receive the candidate decisions generated by the self-driving control architectures, (ii) generate decisions for controlling the autonomous vehicle by processing the received candidate decisions, and (iii) provide signals indicative of the generated decisions to one or more operational subsystems of the autonomous vehicle to maneuver the autonomous vehicle in accordance with the generated decisions, wherein the decision arbiter includes an arbitration machine learning (ML) model trained to dynamically weight the candidate decisions of different self-driving control architectures based on observed or expected circumstances of the autonomous vehicle.