Multiple Objective Explanation and Control Interface Design

An apparatus for use with a vehicle traversing a vehicle transportation network, the apparatus comprising:

• a user interface;
• and
• a processor configured to:
• receive, from an instance of a scenario-specific operational control evaluation model of a distinct vehicle operational scenario, a multi-objective policy for the scenario-specific operational control evaluation model, wherein the multi-objective policy includes at least a first objective, a second objective, and a priority of the first objective relative to the second objective;
• generate, using the user interface, a representation of the first objective, the second objective, and the priority of the first objective relative to the second objective;
• receive, based on feedback to the user interface, a change to the multi-objective policy for the scenario-specific operational control evaluation model, the change including at least one of a change of the first objective, a change of the second objective, or a change in the priority of the first objective relative to the second objective;
• and
• generate, for determining a vehicle control action for traversing the vehicle transportation network, an updated multi-objective policy for the scenario-specific operational control evaluation model to include the change to the multi-objective policy.

An autonomous vehicle, comprising:

• a user interface comprising at least one of:
• a graphical user interface;
• or
• a microphone and a speaker;
• and
• a processor configured to:
• receive, from an instance of a scenario-specific operational control evaluation model of a distinct vehicle operational scenario, a multi-objective policy for the scenario-specific operational control evaluation model, wherein:
• the multi-objective policy includes at least a first objective, a second objective, and a priority of the first objective relative to the second objective,
• the priority of the first objective relative to the second objective comprises a preference for the first objective over the second objective and a buffer value indicating a constraint applied to the preference within the scenario-specific operational control evaluation model, and
• the buffer value indicates how many units, of a defined measurement unit, that the scenario-specific operational control evaluation model will allow deviation from the second objective in favor of the first objective;
• generate, using the user interface, a representation of the first objective, the second objective, and the priority of the first objective relative to the second objective;
• receive, based on feedback to the user interface, a change to the multi-objective policy for the scenario-specific operational control evaluation model, the change including at least one of a change of the first objective, a change of the second objective, or a change in the priority of the first objective relative to the second objective;
• and
• generate, for determining a vehicle control action for traversing a vehicle transportation network, an updated multi-objective policy for the scenario-specific operational control evaluation model to include the change to the multi-objective policy.