Abstract: Approaches for top speed dependent operational parameter configuration are disclosed. An operational parameter to be used by an autonomous vehicle is received. Operational modes and corresponding operational regions are determined based on the received operational parameter. A first set of autonomous vehicle parameters are determined and set based on the received operational parameter. A second set of autonomous vehicle parameters are determined and set based on the first set of autonomous vehicle parameters.

Abstract: Disclosed are systems and methods for specifying goals and behavioral parameters for planning systems of autonomous vehicles. In some aspects, a method includes receiving, by a mission manager in an autonomous vehicle (AV), a mission from an input source of the AV, the mission comprising a request for a task that the AV is to fulfill; deconflicting the mission with one or more other missions of the AV to generate a ranked list of missions; selecting a target mission from the ranked list of missions in accordance with priorities corresponding to each mission in the ranked list of missions; generating one or more scenarios based on the target mission, the one or more scenarios comprising encoded representations of local and geometric terms to cause the target mission to be fulfilled by the AV; and dispatching the one or more scenarios to a planner layer of the AV.

Abstract: Techniques and mechanisms for pull-over site selection for an autonomous vehicle. Simulation information is received from an external source. The simulation information corresponds to multiple simulations involving a virtual autonomous vehicle and available pull-over locations for the virtual autonomous vehicle. An indication to cause the autonomous vehicle to search for a pull-over location is received. Potential pull-over locations are analyzed in response to the indication. The potential pull-over locations are compared to simulated pull-over locations to identify a selected pull-over location. The autonomous vehicle navigates the selected pull-over location. The autonomous vehicle stops at the selected pull-over location.

Abstract: Approaches to managing navigation of autonomous vehicles through minor-major intersections are disclosed. A minor-major intersection is detected. Shadow tracks are generated for occlusions associated with the minor-major intersection. A maneuver evaluation is performed based on induced kinematic discomfort and post-encroachment time. Preliminary lateral and longitudinal planning is performed based on shadow tracks, induced kinematic discomfort and post-encroachment time to generate one or more proposed trajectories. Final trajectory generation is performed by refining at least one of the one or more proposed trajectories to generate the final trajectory. The autonomous vehicle performs a selected maneuver corresponding to the final trajectory within the minor-major intersection.