Abstract: This document discloses system, method, and computer program product embodiments for generating a possible object trajectory. For example, the method includes: analyzing sensor data to detect a moving object in an environment and at least one obstacle that the moving object is unable to traverse; generating a definition for a location of the obstacle in the environment in terms of reference frames defined for a lane and distances from a left boundary of the lane to edges of the obstacle; using the definition for the location of the obstacle and known dimensions of the moving object to detect any free space around the obstacle through which the moving object can traverse; and generating the possible object trajectory based on the detection of any free space.

Abstract: This document discloses system, method, and computer program product embodiments for generating a possible object trajectory. For example, the method includes: analyzing sensor data to detect a moving object in an environment and at least one obstacle that the moving object is unable to traverse; generating a definition for a location of the obstacle in the environment in terms of reference frames defined for a lane and edge distances from a boundary of the lane; using the definition to detect when the moving object should or should not veer around the obstacle; and generating the possible object trajectory based on a detection of when the object should or should not veer around the obstacle.

Abstract: This document discloses system, method, and computer program product embodiments for operating a robot. For example, the method includes: detecting an object in proximity to the robot; generating a path of travel for the object that is defined by a plurality of first data points representing different object locations in an area; generating cost curves respectively associated with the plurality of first data points; generating a polyline comprising a plurality of second data points associated with displacements of the cost curves from a particular location in the area; defining a predicted path of travel for the object based on the polyline; and using the predicted path of travel for the object to facilitate at least one autonomous operation of the robot.

Abstract: Systems/methods for operating an autonomous vehicle. The methods comprise: detecting an object in proximity to the autonomous vehicle; determining a path of travel for the object that comprises a number of data points that is equal to a given number of vehicle locations selected based on a geometry of a lane in which the object; generating cost curves respectively associated with the data points, each cost curve representing a displacement cost to be at a particular location along a given cross line that (i) passes through a respective data point of said data points and (ii) extends perpendicular to and between boundary lines of the lane; determining a polyline representing displacements of the cost curves from a center of the lane; defining a predicted path of travel for the object based on the polyline; and using the predicted path of travel for the object to facilitate autonomous driving operation(s).

Abstract: Systems/methods for operating an autonomous vehicle. The methods comprise: detecting an object in proximity to the autonomous vehicle; determining a path of travel for the object that comprises a number of data points that is equal to a given number of vehicle locations selected based on a geometry of a lane in which the object; generating cost curves respectively associated with the data points, each cost curve representing a displacement cost to be at a particular location along a given cross line that (i) passes through a respective data point of said data points and (ii) extends perpendicular to and between boundary lines of the lane; determining a polyline representing displacements of the cost curves from a center of the lane; defining a predicted path of travel for the object based on the polyline; and using the predicted path of travel for the object to facilitate autonomous driving operation(s).