Statistical method for computing adaptive cruise control (acc) constraint violations using multimodal predictions

A computer-implemented method comprising:

• identifying, based upon perception sensor data of a plurality of perception sensors, a plurality of actors in an environment of an autonomous vehicle;
• generating a plurality of anticipated trajectories for an actor of the plurality of actors;
• generating a respective probability and a respective violation function value for each anticipated trajectory of the plurality of anticipated trajectories;
• and
• based upon the respective probability and the respective violation function value for each anticipated trajectory of the plurality of anticipated trajectories, computing a statistical violation value for an automatic cruise control constraint for the autonomous vehicle.

An autonomous vehicle comprising:

• a plurality of perception sensors;
• at least one memory configured to store machine executable instructions;
• and
• at least one processor coupled to the at least one memory and configured to execute the machine executable instructions to configure the at least one processor to:
• identify, based upon perception sensor data of the plurality of perception sensors, a plurality of actors in an environment of the autonomous vehicle;
• generate a plurality of anticipated trajectories for an actor of the plurality of actors;
• generate a respective probability and a respective violation function value for each anticipated trajectory of the plurality of anticipated trajectories;
• and
• based upon the respective probability and the respective violation function value for each anticipated trajectory of the plurality of anticipated trajectories, compute a statistical violation value for an automatic cruise control constraint for the autonomous vehicle.