Modifying autonomous vehicle behavior prediction based on behavior prediction errors

This invention describes a system for autonomous vehicles that monitors its own predictions about how other objects (like cars or pedestrians) will move around it. It compares what it *thought* would happen with what *actually* happened. If its predictions were wrong, particularly concerning specific interactions like whether the vehicle would pass an object or yield to it, the system then takes steps to address those incorrect predictions, aiming to improve future driving decisions.