Systems and methods for parallel autonomy of a vehicle

A non-transitory computer-readable medium for parallel autonomy of a vehicle and storing instructions that when executed by one or more processors cause the one or more processors to:

• receive input data, the input data including at least one of sensor data and structured input data;
• encode the input data into an intermediate embedding space using a first neural network, wherein the intermediate embedding space is an efficient, low-dimensionality representation of the input data;
• input the intermediate embedding space to a first behavior model and a second behavior model, the first behavior model producing a first behavior output and a first risk estimate associated with the first behavior output, the second behavior model producing a second behavior output and a second risk estimate associated with the second behavior output;
• combine, based at least in part on the first risk estimate and the second risk estimate, the first behavior output and the second behavior output using an ideal-behavior model to produce an ideal behavior for the vehicle;
• and
• control one or more aspects of operation of the vehicle based, at least in part, on the ideal behavior.

A method of parallel autonomy of a vehicle, the method comprising:

• receiving input data, the input data including at least one of sensor data and structured input data;
• encoding the input data into an intermediate embedding space using a first neural network, wherein the intermediate embedding space is an efficient, low-dimensionality representation of the input data;
• inputting the intermediate embedding space to a first behavior model and a second behavior model, the first behavior model producing a first behavior output and a first risk estimate associated with the first behavior output, the second behavior model producing a second behavior output and a second risk estimate associated with the second behavior output;
• combining, based at least in part on the first risk estimate and the second risk estimate, the first behavior output and the second behavior output using an ideal-behavior model to produce an ideal behavior for the vehicle;
• and
• controlling one or more aspects of operation of the vehicle based, at least in part, on the ideal behavior.