Driving simulation agent right-of-way and headlock negotiation

A method comprising:

• executing, by a driving simulation system comprising one or more processors, a driving simulation including a first simulated agent having a first trajectory in a simulated environment and a second simulated agent having a second trajectory in the simulated environment;
• determining, by the driving simulation system, based at least in part on the first trajectory and the second trajectory, an interaction between the first simulated agent and the second simulated agent at an interaction point in the simulated environment;
• executing, by the driving simulation system, a set of heuristics to determine the first simulated agent as being either a priority agent or a non-priority agent with respect to the second simulated agent, wherein the set of heuristics is based on at least one of:
• a future speed of the first simulated agent or the second simulated agent at the interaction point;
• or
• a route curvature of the first simulated agent or the second simulated agent between a current point and the interaction point;
• determining, by the driving simulation system, an agent control parameter for the first simulated agent, based on the determination of the first simulated agent as the priority agent or the non-priority agent;
• and
• controlling, by the driving simulation system, the first simulated agent during the driving simulation using the agent control parameter.

One or more non-transitory computer-readable media storing instructions executable by a processor, wherein the instructions, when executed, cause the processor to perform operations comprising:

• executing, by a driving simulation system comprising one or more processors, a driving simulation including a first simulated agent having a first trajectory in a simulated environment and a second simulated agent having a second trajectory in the simulated environment;
• determining, by the driving simulation system, based at least in part on the first trajectory and the second trajectory, an interaction between the first simulated agent and the second simulated agent at an interaction point in the simulated environment;
• executing, by the driving simulation system, a set of heuristics to determine the first simulated agent as being either a priority agent or a non-priority agent with respect to the second simulated agent, wherein the set of heuristics is based on at least one of:
• a future speed of the first simulated agent or the second simulated agent at the interaction point;
• or
• a route curvature of the first simulated agent or the second simulated agent between a current point and the interaction point;
• determining, by the driving simulation system, an agent control parameter for the first simulated agent, based on the determination of the first simulated agent as the priority agent or the non-priority agent;
• and
• controlling, by the driving simulation system, the first simulated agent during the driving simulation using the agent control parameter.