Systems and methods for generating behavioral predictions in reaction to autonomous vehicle movement

An autonomous vehicle control system for controlling an autonomous vehicle, the autonomous vehicle control system comprising:

• one or more processors;
• and
• one or more non-transitory computer-readable media storing instructions that are executable by the one or more processors to cause the autonomous vehicle control system to perform operations, the operations comprising:
• obtaining local scene data associated with an environment external to an autonomous vehicle, the local scene data comprising actor data for an actor in the environment external to the autonomous vehicle;
• extracting, from the local scene data, one or more actor prediction parameters for the actor using a machine-learned parameter extraction model, wherein the actor prediction parameters comprise a latent space representation of at least a portion of the local scene data;
• determining a plurality of candidate target motion trajectories for the autonomous vehicle;
• generating, using a machine-learned prediction model, a plurality of reactive predictions for the actor based at least in part on the one or more actor prediction parameters, wherein the machine-learned prediction model is configured to be less computationally expensive than the machine-learned parameter extraction model, and wherein the plurality of reactive predictions are generated by:
• for each respective candidate target motion trajectory of the plurality of candidate target motion trajectories:
• inputting the latent space representation and the respective candidate target motion trajectory to the machine-learned prediction model;
• generating, using the machine-learned prediction model, a respective reactive prediction for the actor based at least in part on the one or more actor prediction parameters and the respective candidate target motion trajectory, the respective reactive prediction comprising a probability representing a likelihood of the actor reacting in a particular manner to a movement of the autonomous vehicle based on the respective candidate target motion trajectory;
• and
• operating the autonomous vehicle according to the respective candidate target motion trajectory.

One or more non-transitory computer-readable media storing instructions that are executable by one or more processors to cause an autonomous vehicle control system to perform operations, the operations comprising:

• obtaining local scene data associated with an environment external to an autonomous vehicle, the local scene data comprising actor data for an actor in the environment external to the autonomous vehicle;
• extracting, from the local scene data, one or more actor prediction parameters for the actor using a machine-learned parameter extraction model, wherein the actor prediction parameters comprise a latent space representation of at least a portion of the local scene data;
• determining a plurality of candidate target motion trajectories for the autonomous vehicle;
• generating, using a machine-learned prediction model, a plurality of reactive predictions for the actor based at least in part on the one or more actor prediction parameters, wherein the machine-learned prediction model is configured to be less computationally expensive than the machine-learned parameter extraction model, and wherein the plurality of reactive predictions are generated by:
• for each respective candidate target motion trajectory of the plurality of candidate target motion trajectories:
• inputting the latent space representation and the respective candidate target motion trajectory to the machine-learned prediction model;
• generating, using the machine-learned prediction model, a respective reactive prediction for the actor based at least in part on the one or more actor prediction parameters and the respective candidate target motion trajectory, the respective reactive prediction comprising a probability representing a likelihood of the actor reacting in a particular manner to a movement of the autonomous vehicle based on the respective candidate target motion trajectory;
• and
• operating the autonomous vehicle according to the respective candidate target motion trajectory.