Methods and systems for managing interactions of an autonomous vehicle with other objects

A method and system for managing interactions of an autonomous vehicle with one or more objects. Objects in the vicinity of the autonomous vehicle are detected from sensor measurements and an interaction label (yield, no-yield, stay-behind, stay-in-front, irrelevant) is determined for each object; a cost function is generated per object from the label and a trajectory for the autonomous vehicle is determined from the cost functions.