Agent prioritization on interpretable relation for trajectory prediction

A method for trajectory prediction with agent prioritization, the method comprising:

• determining future directions of agents of a plurality of agents and strengths of the agents based on past trajectory information, wherein the past trajectory information includes past trajectories of the agents at a number of time steps over a time horizon for the agents;
• determining relations between the agents based on the future directions and the strengths, wherein the relations identify motion impacts between the agents, and
• calculating a motion prioritization score for each agent of the plurality of agents based on the relations between the agents, wherein the motion prioritization scores define a priority order including a first priority agent having a highest priority score, a second priority agent having a second highest priority score, and an Nth priority agent having an Nth highest priority score;
• calculating sequential predictions for future trajectories of the agents based on the motion prioritization scores;
• and
• causing at least one agent of the plurality of agents to navigate based on the future trajectories of the agents.

A non-transitory computer readable storage medium storing instruction that when executed by a computer having a processor to perform a method for trajectory prediction with agent prioritization, the method comprising:

• determining future directions of agents of a plurality of agents and strengths of the agents based on past trajectory information, wherein the past trajectory information includes past trajectories of the agents at a number of time steps over a given time horizon for the agents;
• determining relations between the agents based on the future directions and the strengths, wherein the relations identify motion impacts between the agents, and
• calculating a motion prioritization score for each agent of the plurality of agents based on the relations between the agents, wherein the motion prioritization scores define a priority order including a first priority agent having a highest priority score, a second priority agent having a second highest priority score, and an Nth priority agent having an Nth highest priority score;
• calculating sequential predictions for future trajectories of the agents based on the motion prioritization scores;
• and
• causing at least one agent of the plurality of agents to navigate based on the future trajectories of the agents.