System and method for managing flexible control of vehicles by diverse agents in autonomous driving simulation

A computer system comprising:

• a processor;
• and
• a non-transitory memory coupled to the processor, the memory storing instructions that, when executed by the processor, configure the computer system to:
• control the behavior of the object during a first time period by using a first agent that applies a first behavior policy to map observations about the object and the environment in the first time period to a corresponding control action that is applied to the object;
• transition control of the behavior of the object from the first agent to a second agent during a transition period following the first time period;
• and
• control the behavior of the object during a second time period following the transition period by using a second agent that applies a second behavior policy to map observations about the object and the environment in the second time period to a corresponding control action that is applied to the object;
• wherein during the transition period the first agent applies the first behavior policy to map observations about the object and the environment in the transition period to a corresponding control action that is applied to the object and the second agent applies the second behavior policy to map observations about the object and the environment in the transition period to a corresponding control action that is not applied to the object.

A computer program product comprising a non-transitory computer medium storing instructions for configuring a computer system to:

• control the behavior of the object during a first time period by using a first agent that applies a first behavior policy to map observations about the object and the environment in the first time period to a corresponding control action that is applied to the object;
• transition control of the behavior of the object from the first agent to a second agent during a transition period following the first time period;
• and
• control the behavior of the object during a second time period following the transition period by using a second agent that applies a second behavior policy to map observations about the object and the environment in the second time period to a corresponding control action that is applied to the object;
• wherein during the transition period the first agent applies the first behavior policy to map observations about the object and the environment in the transition period to a corresponding control action that is applied to the object and the second agent applies the second behavior policy to map observations about the object and the environment in the transition period to a corresponding control action that is not applied to the object.