Method for predicting movement of moving objects relative to an autonomous driving vehicle

A non-transitory machine-readable medium having instructions stored therein, which when executed by a processor, cause the processor to perform operations, the operations comprising:

• in response to perceiving a moving object, determining one or more possible object paths based on prior movement predictions of the moving object;
• for each of the possible object paths,
• generating a set of trajectory candidates based on a set of predetermined accelerations,
• calculating a trajectory cost for each of the trajectory candidates using a predetermined cost function, and
• selecting one of the trajectory candidates with a lowest trajectory cost amongst the trajectory candidates to represent the possible object path;
• and
• planning an ADV path to navigate the ADV to avoid collision with the moving object based on the lowest trajectory costs associated with the possible object paths of the moving object.

A data processing system, comprising:

• a processor;
• and
• a memory coupled to the processor to store instructions, which when executed by the processor, cause the processor to perform operations, the operations including
• in response to perceiving a moving object, determining one or more possible object paths based on prior movement predictions of the moving object,
• for each of the possible object paths,
• generating a set of trajectory candidates based on a set of predetermined accelerations,
• calculating a trajectory cost for each of the trajectory candidates using a predetermined cost function, and
• selecting one of the trajectory candidates with a lowest trajectory cost amongst the trajectory candidates to represent the possible object path, and
• planning an ADV path to navigate the ADV to avoid collision with the moving object based on the lowest trajectory costs associated with the possible object paths of the moving object.