Method and apparatus for interaction aware traffic scene prediction

A vehicle control system for an autonomous vehicle (AV), the vehicle control system comprising:

• a perception unit;
• and
• a behavioral planning unit comprising:
• an intent estimator configured to receive a first set of perception information from the perception unit;
• a motion predictor configured to receive the first set of perception information from the perception unit;
• a function approximator configured to receive a second set of perception information from the perception unit, wherein the second set of perception information is smaller than the first set of perception information, wherein the function approximator is further configured to determine whether an output of the motion predictor is correct, and on a condition that the function approximator determines that the output of the motion predictor is not correct, the function approximator is further configured to discredit the motion predictor, the function approximator further configured to determine a prediction;
• and
• a control unit configured to use the prediction to control an operation of the AV.