Introspective competence modeling for AV decision making

An autonomous vehicle (AV), comprising:

• a processor configured to execute instructions to:
• detect, based on sensor data, an environment state;
• select an action based on the environment state;
• determine an autonomy level associated with the environment state and the action,
• wherein the autonomy level indicates an extent to which the action is to be performed autonomously,
• wherein the AV determines respective autonomy levels for actions to be performed,
• wherein the autonomy level is selected based at least on an autonomy model and a feedback model, and
• wherein the feedback model models feedback types received from a human with respect to the action, how costly each type of feedback is, and how likely is each type of feedback to be received from the human;
• and
• cause the action to be performed according to the autonomy level, wherein to cause the action to be performed according to the autonomy level comprises to:
• in response to determining that the autonomy level indicates “verified autonomy” and to determining that the AV is being monitored,
• cause the action to be performed;
• and
• in response to receiving an override signal while the action is being performed, cause the action to stop and cause a switch to a manual operation mode of the AV.