Prediction-based system and method for trajectory planning of autonomous vehicles

A method comprising:

• receiving perception data associated with a host vehicle;
• extracting host vehicle feature data and proximate vehicle context data from the perception data;
• generating a proposed trajectory for the host vehicle;
• using a trained trajectory prediction module to generate predicted trajectories for each of one or more proximate vehicles, the trained trajectory prediction module having been trained using training data comprising perception data and context data corresponding to human driving behaviors, the predicted trajectories for each of the one or more proximate vehicles corresponding to likely actions or reactions by each of the one or more proximate vehicles based on the human driving behavior context data if the host vehicle follows the proposed host vehicle trajectory;
• and
• modifying the proposed trajectory for the host vehicle if the proposed trajectory for the host vehicle will conflict with any of the predicted trajectories of the one or more proximate vehicles.

A non-transitory machine-readable storage medium embodying instructions which, when executed by a machine, cause the machine to:

• receive perception data associated with a host vehicle;
• extract host vehicle feature data and proximate vehicle context data from the perception data;
• generate a proposed trajectory for the host vehicle;
• use a trained trajectory prediction module to generate predicted trajectories for each of one or more proximate vehicles, the trained trajectory prediction module having been trained using training data comprising perception data and context data corresponding to human driving behaviors, the predicted trajectories for each of the one or more proximate vehicles corresponding to likely actions or reactions by each of the one or more proximate vehicles based on the human driving behavior context data if the host vehicle follows the proposed host vehicle trajectory;
• and
• modify the proposed trajectory for the host vehicle if the proposed trajectory for the host vehicle will conflict with any of the predicted trajectories of the one or more proximate vehicles.