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 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 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 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 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 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 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 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 in the transition period to a corresponding control action that is not applied to the object.