Abstract: A method for autonomous navigation of an autonomous vehicle includes: accessing a first scan image containing data captured by a sensor on the autonomous vehicle at a first time; identifying a first group of points in the first scan image representing an object in a field proximal the autonomous vehicle; characterizing a first motion of the object at the first time based on the first group of points; characterizing an uncertainty of the first motion of the object at the first time; calculating a predicted second uncertainty of a second motion of the object at a second time based on the first motion of the object and motion of the autonomous vehicle at the first time; and, in response to the predicted second uncertainty falling below the uncertainty, muting the object from braking consideration for object avoidance by the autonomous vehicle at the second time.

Abstract: A method for autonomous navigation of an autonomous vehicle includes: estimating a stopping duration, for the autonomous vehicle to reach a full stop, based on a current speed of the autonomous vehicle; calculating a critical time from the current time by the stopping duration; detecting an object in a scan image, of a field proximal the autonomous vehicle, captured by a sensor on the autonomous vehicle at the current time; based on the scan image, deriving a current location and motion of the object; calculating a future state boundary that represents a ground area accessible to the object up to the critical time based on the current location and motion of the object and a set of predefined motion limit assumptions for generic objects proximal public roads; and electing a navigational action to avoid entry into the future state boundary prior to the critical time.