Methods and systems for managing interactions of an autonomous vehicle with other objects

A non-transitory machine-readable storage medium that provides instructions that, if executed by a processor an autonomous vehicle, will cause said processor to perform operations comprising:

• detecting, based on sensor measurements, an object that is located in the vicinity of the autonomous vehicle;
• assigning to the object an interaction label that describes how the autonomous vehicle is to interact with the object, wherein the interaction label is one of a yield label, a no-yield label, a stay-behind label, a stay in-front label, and an irrelevant label;
• generating, based at least in part on the interaction label, a cost function for the object;
• and
• determining, based on the cost function, a trajectory for the autonomous vehicle for an interval of time.

An autonomous vehicle comprising:

• a non-transitory machine-readable storage medium that provides instructions that, if executed by a processor will cause the autonomous vehicle to perform operations comprising,
• detecting, based on sensor measurements, an object that is located in the vicinity of the autonomous vehicle;
• assigning to the object an interaction label that describes how the autonomous vehicle is to interact with the object, wherein the interaction label is one of a yield label, a no-yield label, a stay-behind label, a stay in-front label, and an irrelevant label;
• generating, based at least in part on the interaction label, a cost function for the object;
• and
• determining, based on the cost function, a trajectory for the autonomous vehicle for an interval of time.