Abstract: A method and a system for managing interactions of an autonomous vehicle with one or more objects are described. In one embodiment, objects that are in the vicinity of the autonomous vehicle are detected based on sensor measurements. An interaction label is determined for each one of the objects. The interaction label is one of a yield label, a no-yield label, a stay-behind label, a stay in-front label, and an irrelevant label and describes an interaction of the autonomous vehicle with the object. A cost function is generated for the object based on the interaction label. A trajectory for an interval of time is determined for the autonomous vehicle based on the cost functions of one or more objects. The trajectory is then used to generate control commands for controlling the motion of the autonomous vehicle during the interval of time.

Abstract: A method and a system of calibration of a first lidar device and a second lidar device are described. Lidar returns recorded by the first and the second lidar devices as the vehicle moves along a path according to a predetermined path pattern in an environment are received. A subset of pairs of positions of the vehicle is determined. Each pair includes a first position and a second position. A first field of view of the first lidar device when the vehicle is located at the first position overlaps with a second field of view of the second lidar device when the vehicle is located at the second position. For each pair, an estimate of transformation is determined between a first subset of the lidar returns and a second subset of the lidar returns. An extrinsic calibration transformation is determined based on the estimates of the transformations.