Object tracking after object turns off host-vehicle roadway

A controller circuit for operating a vehicle, said controller circuit comprising:

• an input configured to communicate with an object detector used to track an object traveling on a roadway traveled by a host vehicle;
• and
• a processor in communication with the object detector, said processor configured to track a position of the object, determine a classification of the object in accordance with a signal received from the object detector, wherein the classification comprises a car and a bicycle, said processor configured to track the car a first distance after the car turns off the roadway, track the bicycle a second distance after the bicycle turns off the roadway, wherein the second distance is greater than the first distance;
• and
• an output configured to communicate with vehicle controls that operate the host vehicle in accordance with the position of the object;
• wherein the processor is configured to operate the host vehicle in accordance with a presumption that the bicycle will turn around and re-enter the roadway before the bicycle travels the second distance after the bicycle turns off the roadway,
• wherein the processor is further configured to operate the host vehicle to leave space for the bicycle to re-enter the roadway ahead of the host vehicle.

A method of operating a vehicle, said method comprising:

• tracking, using an object detector, an object traveling on a roadway traveled by a host vehicle;
• determining, using a processor, a classification of the object in accordance with a signal received from the object detector, wherein the classification comprises a car and a bicycle;
• determining that the object has turned off the roadway traveled by the host vehicle;
• tracking the object a travel distance after the object has turned off the roadway, wherein the travel distance is first distance when the object is the car and a second distance greater than the first distance when the object is the bicycle;
• operating the host vehicle in accordance with the position of the object;
• wherein operating the host vehicle in accordance with the position of the object includes operating the host vehicle in accordance with a presumption that the bicycle will turn around and re-enter the roadway before the bicycle travels the second distance after the bicycle turns off the roadway;
• and
• operating the host vehicle to leave space for the bicycle to re-enter the roadway ahead of the host vehicle.