Conditional motion predictions

A method comprising:

• generating, by a planning circuit, a set of candidate trajectories for a vehicle based on possible macro actions by the vehicle;
• for at least some trajectories in the set of candidate trajectories, predicting, by the planning circuit, a response by a target vehicle to the respective trajectory and a probability of the response by the target vehicle;
• selecting, by the planning circuit, a trajectory from the set of candidate trajectories based at least in part on the response by the target vehicle to the trajectory, the probability of the response by the target vehicle, and characteristics of the trajectory;
• and
• operating, by a control circuit, the vehicle based on the selected trajectory.

At least one non-transitory computer-readable storage media comprising instructions which, when executed by at least one processor cause the at least one processor to perform operations comprising:

• generating a set of candidate trajectories for a vehicle based on possible macro actions by the vehicle;
• for at least some trajectories in the set of candidate trajectories, predicting a response by a target vehicle to the respective trajectory and a probability of the response by the target vehicle;
• selecting a trajectory from the set of candidate trajectories based at least in part on the predicted response by the target vehicle to the trajectory, the probability of the response by the target vehicle, and characteristics of the trajectory;
• and
• operating the vehicle based on the selected trajectory.