Motion prediction for autonomous devices

One or more tangible non-transitory computer-readable media storing computer-readable instructions that are executable by one or more processors to cause the one or more processors to perform operations, the operations comprising:

• accessing state data comprising information associated with one or more respective locations and characteristics of one or more objects over a plurality of time intervals, wherein the one or more objects comprise a two-axle vehicle;
• determining one or more trajectories of the one or more objects based at least in part on the state data and a machine-learned tracking and kinematics model comprising a neural network trained by evaluation of a loss function to determine a distance between a front axle and a rear axle of the two-axle vehicle based on physical dimensions of the two-axle vehicle provided within the state data, wherein the one or more trajectories comprise one or more predicted locations of the one or more objects at one or more subsequent time intervals, and wherein the one or more predicted locations of the one or more objects are based at least in part on one or more physical constraints of the one or more objects, the one or more physical constraints comprising a turning angle of the one or more objects, wherein the turning angle of the two-axle vehicle is determined from the distance between the front axle and the rear axle of the two-axle vehicle and a velocity of the two-axle vehicle provided within the state data;
• generating one or more outputs comprising one or more predicted object states based at least in part on the one or more predicted locations of the one or more objects at the one or more subsequent time intervals;
• and
• controlling one or more vehicle systems associated with an autonomous vehicle based at least in part on the one or more predicted locations of the one or more objects.

A computing device comprising:

• one or more processors;
• a memory comprising one or more computer-readable media, the memory storing computer-readable instructions that are executable by the one or more processors to cause the one or more processors to perform operations comprising:
• accessing state data comprising information associated with one or more respective locations and characteristics of one or more objects over a plurality of time intervals, wherein the one or more objects comprise a two-axle vehicle;
• determining one or more trajectories of the one or more objects based at least in part on the state data and a machine-learned tracking and kinematics model comprising a neural network trained by evaluation of a loss function to determine a distance between a front axle and a rear axle of the two-axle vehicle based on physical dimensions of the two-axle vehicle provided within the state data, wherein the one or more trajectories comprise one or more predicted locations of the one or more objects at one or more subsequent time intervals, and wherein the one or more predicted locations of the one or more objects are based at least in part on one or more physical constraints of the one or more objects, the one or more physical constraints comprising a turning angle of the one or more objects, wherein the turning angle of the two-axle vehicle is determined from the distance between the front axle and the rear axle of the two-axle vehicle and a velocity of the two-axle vehicle provided within the state data;
• generating one or more outputs comprising one or more predicted object states based at least in part on the one or more predicted locations of the one or more objects at the one or more subsequent time intervals;
• and
• controlling one or more vehicle systems associated with an autonomous vehicle based at least in part on the one or more predicted locations of the one or more objects.