Systems and methods for controlling the operation of a vehicle

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

• generate predicted trajectories of the vehicle using first trajectory predictors based, at least in part, on first inputs including at least past trajectory information for the vehicle and sensor data;
• generate predicted trajectories of a road agent that is external to the vehicle using second trajectory predictors based, at least in part, on second inputs including at least past trajectory information for the road agent and the sensor data;
• integrate the predicted trajectories of the road agent into the first inputs to iteratively update the predicted trajectories of the vehicle and integrate the predicted trajectories of the vehicle into the second inputs to iteratively update the predicted trajectories of the road agent;
• and
• control operation of the vehicle based, at least in part, on at least one of the iteratively updated predicted trajectories of the vehicle and the iteratively updated predicted trajectories of the road agent.

A method of controlling a vehicle, the method comprising:

• generating predicted trajectories of the vehicle using first trajectory predictors based, at least in part, on first inputs including at least past trajectory information for the vehicle and sensor data;
• generating predicted trajectories of a road agent that is external to the vehicle using second trajectory predictors based, at least in part, on second inputs including at least past trajectory information for the road agent and the sensor data;
• integrating the predicted trajectories of the road agent into the first inputs to iteratively update the predicted trajectories of the vehicle and integrating the predicted trajectories of the vehicle into the second inputs to iteratively update the predicted trajectories of the road agent;
• and
• controlling operation of the vehicle based, at least in part, on at least one of the iteratively updated predicted trajectories of the vehicle and the iteratively updated predicted trajectories of the road agent.