Vehicle path prediction and target classification for autonomous vehicle operation

A method for an autonomous vehicle path prediction and target classification, said method implemented by distributed processors, said method comprising:

• receiving vehicle data of at least one of a location, a speed, and a heading for a vehicle and a set of other vehicles including a target vehicle;
• performing cross track calculation using said vehicle data based on a plurality of forward combinations of a vehicle x and a vehicle y among said vehicle and said set of other vehicles, said cross track calculation including a plurality of terms dcxy respectively corresponding with the forward combinations;
• determining in-lane or adjacent lane target classification of said target vehicle with respect to said vehicle based on said cross track calculation;
• sending data or command for performing an autonomous vehicle operation of said vehicle to a controller based on determining said in-lane or adjacent lane target classification of said target vehicle with respect to said vehicle;
• and
• performing said autonomous vehicle operation of said vehicle based on the data or command for performing the autonomous vehicle operation,
• wherein performing said cross track calculation for a term dcxy, comprises calculating at least one of:
• a sine of an angle between the corresponding vehicle x and vehicle y in a road;
• and a lateral distance between the corresponding vehicle x and vehicle y at a curve.