I agree with some of this, but ultimately the motion planners have to build a cost function that the car uses to evaluate potential maneuvers. That cost function has to output a cost for each maneuver, and probably that will involve assuming that a van, on average, carries 3 passengers, a motorcycle carries 1, a bus carries 20, etc.

I love self-driving cars and I work on them at Voyage! https://voyage.auto

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