Abstract: Among other things, a world model is maintained of an environment of a vehicle. A hypothetical object in the environment that cannot be perceived by sensors of the vehicle is included in the world model.

Abstract: Among other things, planning a motion of a machine having moving capabilities is based on strategic guidelines derived from various basic principles, such as laws, ethics, preferences, driving experiences, and road environments.

Abstract: Among other things, planning a motion of a machine having moving capabilities is based on strategic guidelines derived from various basic principles, such as laws, ethics, preferences, driving experiences, and road environments.

Abstract: Among other things, planning a motion of a machine having moving capabilities is based on strategic guidelines derived from various basic principles, such as laws, ethics, preferences, driving experiences, and road environments.

Abstract: Among other things, planning a motion of a machine having moving capabilities is based on strategic guidelines derived from various basic principles, such as laws, ethics, preferences, driving experiences, and road environments.

Abstract: Among other things, a vehicle having autonomous driving capabilities is operated in a mixed driving mode.

Abstract: Among other things, a vehicle having autonomous driving capabilities is operated in a mixed driving mode.

Abstract: Among other things, a vehicle having autonomous driving capabilities is operated in a mixed driving mode.

Abstract: Among other things, a vehicle having autonomous driving capabilities is operated in a mixed driving mode.

Abstract: Among other things, a vehicle having autonomous driving capabilities is operated in a mixed driving mode.

Abstract: Among other things, a vehicle having autonomous driving capabilities is operated in a mixed driving mode.

Abstract: Among other things, a world model is maintained of an environment of a vehicle. A hypothetical object in the environment that cannot be perceived by sensors of the vehicle is included in the world model.

Abstract: Among other things, sensor signals are received using a vehicle comprising an autonomous driving capability. A risk associated with operating the vehicle is identified based on the sensor signals. The autonomous driving capability is modified in response to the risk. The operation of the vehicle is updated based on the modifying of the autonomous capability.

Abstract: Among other things, a determination is made of an ability of an autonomous vehicle to safely or robustly travel a road feature or a road segment or a route that is being considered for the autonomous vehicle as of a time or range of times. Route root conforms to properties of stored road network information. The road feature or road segment or route is eliminated from consideration if the computer has determined that the road feature or road segment or route cannot be safely or robustly traveled by the autonomous vehicle. The determination by the computer is based on properties of the environment in which the autonomous vehicle travels.

Abstract: Among other things, a world model is maintained of an environment of a vehicle. A hypothetical object in the environment that cannot be perceived by sensors of the vehicle is included in the world model.

Abstract: Among other things, an operation related to control of a vehicle is facilitated by actions that include the following. A finite set of candidate trajectories of the vehicle is generated that begin at a location of the vehicle as of a given time. The candidate trajectories are based on a state of the vehicle and on possible behaviors of the vehicle and of the environment as of the location of the vehicle and the given time. A putative optimal trajectory is selected from among the candidate trajectories based on costs associated with the candidate trajectories. The costs include costs associated with violations of rules of operation of the vehicle. The selected putative optimal trajectory is used to facilitate the operation related to control of the vehicle.