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: Disclosed are systems and methods for responding to detected emergency vehicles. In some aspects, a method includes generating an emergency vehicle (EMV) detection signal based on sensor signals of an autonomous vehicle (AV); determining, based on the EMV detection signal, whether remote assistance (RA) is invoked for the EMV signal or whether the AV is to handle the EMV detection signal autonomously; and responsive to determining that the AV is to handle the EMV detection signal autonomously, determining a trajectory of the AV in response to the EMV detection signal.

Abstract: For one embodiment of the present disclosure, systems and methods for dynamically responding to detected changes in a semantic map of an autonomous vehicle (AV) are described. A computer implemented method includes obtaining sensor signals from a sensor system of the AV to monitor driving operations, processing the sensor signals for sensor observations of the sensor system, determining whether a map change exists between the sensor observations and a prerecorded semantic map, determining whether the map change is located in a planned route of the AV when the map change exists, and generating a first scenario with a first priority level to to stop the AV at a safe location based on a location of the map change.