Methods and systems for agent prioritization

A method and system for generating trajectories for autonomous vehicles utilising agent interaction. Obtaining by a processor sensor data associated with the environment of the vehicle 802 and determining an agent set based on said data 804. Determining for each agent of the set an interaction parameter indicative of a prediction of interaction between the agent and the vehicle 806. Based on the interaction parameters generating a primary agent set 808 and based on the primary agent set generate a trajectory for the autonomous vehicle 810. The system also features an embodiment for generation of the primary agent set using a prioritisation scheme. The system may use a models which can be applied to different sets of agents and can use a neural network.