State identification for road actors with uncertain measurements based on compliant priors

Abstract

Disclosed herein are system, method, and computer program product embodiments for state identification for road actors with uncertain measurements based on compliant priors. The perception system of an autonomous vehicle (AV) may detect an object with an uncertain kinematic state based on sensor information received from a sensing device associated with the AV. A first, second, and third distribution of velocity values may be generated based on the sensor information, map information, and a kinematic state for each additional object of a plurality of additional objects in proximity to the detected object with the uncertain kinematic state, respectively. A velocity value for the detected object with the uncertain kinematic state may be generated based on a comparison of the first, second, and third distributions of velocity values. The AV may perform a driving maneuver based on the velocity value for the detected object.