Dynamic object relevance determination

Abstract

A vehicle computing system may implement techniques to determine relevance of objects detected in an environment to a vehicle operating in the environment. The techniques may include determining locations and trajectories associated with a detected object and generating simulations of movement (e.g., estimated states) of the detected object and the vehicle over a period of time. The vehicle computing system may compare locations, distances, and/or trajectories of the detected object and the vehicle in an estimated state to determine whether the detected object is relevant to the vehicle performing the action (e.g., impacts the vehicle's ability to safely perform the action). The relevance determination may be based in part on a semantic classification of the detected object. Based on a determination that the detected object is irrelevant to the vehicle in an estimated state, the vehicle computing device may disregard the detected object in future estimated states and/or future vehicle control planning considerations.