Adaptive vehicle motion control system

An autonomous vehicle comprising:

• one or more processors;
• and
• one or more memory devices, the one or more memory devices storing instructions that when executed by the one or more processors cause the one or more processors to perform operations, the operations comprising:
• obtaining data associated with a plurality of objects that are within an environment of the autonomous vehicle, wherein the data associated with the plurality of objects comprises respective predicted paths of the plurality of objects;
• performing a cost analysis associated with the plurality of objects, wherein the cost analysis for a respective object, of the plurality of objects, is associated with an effect of controlling a motion of the autonomous vehicle such that the autonomous vehicle travels behind or in front of the respective object;
• determining a motion plan for the autonomous vehicle based at least in part on the cost analysis;
• and
• causing the autonomous vehicle to implement at least a portion of the motion plan for the autonomous vehicle.

A computer-implemented method, comprising:

• obtaining data associated with a plurality of objects that are within an environment of an autonomous vehicle, wherein the data comprises respective predicted paths for the plurality of objects;
• generating cost data associated with the plurality of objects, wherein the cost data for a respective object, of the plurality of objects, is indicative of an effect of controlling a motion of the autonomous vehicle such that the autonomous vehicle travels behind or in front of the respective object;
• outputting data indicative of the cost data associated with the plurality of objects;
• determining a motion plan for the autonomous vehicle based at least in part on the cost data;
• and
• causing the autonomous vehicle to implement at least a portion of the motion plan for the autonomous vehicle.