Method for generating prediction trajectories of obstacles for autonomous driving vehicles

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:

• predicting that an obstacle is moving from a starting point to an end point based on perception data perceiving a driving environment surrounding an autonomous driving vehicle (ADV) driving within a lane;
• generating a longitudinal movement trajectory from the starting point to the end point in view of a shape of the lane;
• generating a lateral movement trajectory from the starting point to the end point, including optimizing a shape of the lateral movement trajectory using a first polynomial function;
• combining the longitudinal movement trajectory and the lateral movement trajectory to generate a predicted trajectory predicting how the obstacle is to move;
• and
• controlling the ADV to move in view of the predicted trajectory of the obstacle.

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
• predicting that an obstacle is moving from a starting point to an end point based on perception data perceiving a driving environment surrounding an autonomous driving vehicle (ADV) driving within a lane,
• generating a longitudinal movement trajectory from the starting point to the end point in view of a shape of the lane,
• generating a lateral movement trajectory from the starting point to the end point, including optimizing a shape of the lateral movement trajectory using a first polynomial function,
• combining the longitudinal movement trajectory and the lateral movement trajectory to generate a predicted trajectory predicting how the obstacle is to move, and
• controlling the ADV to move in view of the predicted trajectory of the obstacle.