Ford Global Technolgoies, LLC

Elena Corina Grigore

Andrew Thomas Hartnett

Constantin Savtchenko

Jagjeet Singh

Systems and methods for planning a trajectory for a vehicle are disclosed. The methods include generating first predicted states of an object in an environment of the vehicle at one or more first time steps during a first prediction horizon using a machine learning model and sensor data about the environment. The first predicted states are used as an input to a physical model to generate second predicted states of the object at one or more second time steps during a second prediction horizon where the one or more second time steps are after the one or more first time steps. A trajectory for the vehicle is generated using the first predicted states or the second predicted states of the object.

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Redwood City, CA, United States of America

Elena Corina Grigore