Prediction modules for autonomous vehicles

A system for controlling an autonomous vehicle based on predicted behavior of one or more actors on a road, the system comprising one or more processors and memory storing one or more programs for execution by the one or more processors, the one or more programs comprising instructions that, when executed by the one or more processors, cause the system to perform a method comprising:

• receiving input data comprising sensor data from one or more sensors of the autonomous vehicle about one or more actors on a road;
• generating, at an objective prediction module, an objective prediction based on the input data comprising a probability that a first actor will execute a driving operation;
• providing the objective prediction to a motion planner;
• identifying one or more behavioral features associated with the driving operation;
• generating, at one or more behavioral feature prediction modules, one or more behavioral feature predictions corresponding to the one or more behavioral features;
• providing the one or more behavioral feature predictions to a motion planner;
• determining, by the motion planner, one or more responsive actions of the autonomous vehicle based on at least one of the objective prediction or the one or more behavioral feature predictions;
• and
• controlling, by a controller, motion of the autonomous vehicle based on the one or more responsive actions determined by the motion planner.

A non-transitory computer-readable storage medium storing instructions that, when executed by one or more processors of an electronic device, cause the device to:

• receive input data comprising sensor data from one or more sensors of the autonomous vehicle about one or more actors on a road;
• generate, at an objective prediction module, an objective prediction based on the input data comprising a probability that a first actor will execute a driving operation;
• providing the objective prediction to a motion planner;
• identify one or more behavioral features associated with the driving operation;
• generate, at one or more behavioral feature prediction modules, one or more behavioral feature predictions corresponding to the one or more behavioral features;
• provide the one or more behavioral feature predictions to a motion planner;
• determine, by the motion planner, one or more responsive actions of the autonomous vehicle based on at least one of the objective prediction or the one or more behavioral feature predictions;
• and
• control, by a controller, motion of the autonomous vehicle based on the one or more responsive actions determined by the motion planner.