Abstract: Techniques for generating simulations to evaluate an update to a controller. The controller may be configured to control one or more functionalities of an autonomous and/or a semi-autonomous vehicle. A simulation computing system may receive a request to evaluate a first controller. The simulation computing system may generate a simulation based on data associated with a previous operation of the vehicle in an environment, the previous operation being controlled by a second controller (e.g., standard for evaluation, control version, etc.). The simulation computing device may cause the first controller to control a simulated vehicle in the simulation and may determine whether to validate the update to the controller based on a difference between first metrics associated with a control of the simulated vehicle by the first controller and second metrics associated with a control of the vehicle by the second controller.

Abstract: Techniques for determining right of way through an intersection are discussed herein. Routes through the intersection may be associated with respective priorities. The route associated with an inbound lane devoid of yield or stop markers may be determined as being associated with the highest priority. The hierarchy of the other priorities may be organized based on whether the number of times routes associated with each respective priority intersects the route associated with the highest priority. The routes and the priorities are saved in a data structure, and the data structure is transmitted to an autonomous vehicle for controlling the autonomous vehicle through the intersection.