Assessing driving behavior for autonomous vehicles

A system comprising one or more computers and one or more storage devices storing instructions that when executed by the one or more computers cause the one or more computers to perform operations for assessing driving behavior of an ego agent, the operations comprising:

• receiving data representing a state of a driving environment of the ego agent;
• computing a first plurality of reachable sets for one or more other road users in the driving environment using a normal set of movement parameters;
• computing a second plurality of reachable sets for the one or more other road users in the driving environment using an expanded set of movement parameters;
• computing a first drivable area for the ego agent based on the first plurality of reachable sets;
• computing a second drivable area for the ego agent based on the second plurality of reachable sets;
• and
• computing one or more driving metrics based on the first drivable area and the second drivable area computed for the ego agent.

One or more non-transitory computer-readable storage media encoded with computer program instructions that when executed by one or more computers cause the one or more computers to perform operations for assessing driving behavior of an ego agent, the operations comprising:

• receiving data representing a state of a driving environment of the ego agent;
• computing a first plurality of reachable sets for one or more other road users in the driving environment using a normal set of movement parameters;
• computing a second plurality of reachable sets for the one or more other road users in the driving environment using an expanded set of movement parameters;
• computing a first drivable area for the ego agent based on the first plurality of reachable sets;
• computing a second drivable area for the ego agent based on the second plurality of reachable sets;
• and
• computing one or more driving metrics based on the first drivable area and the second drivable area computed for the ego agent.