METHODS AND SYSTEMS FOR AUTONOMOUS VEHICLE INFERENCE OF ROUTES FOR ACTORS EXHIBITING UNRECOGNIZED BEHAVIOR

A system includes one or more electronic devices of an autonomous vehicle and a computer-readable storage medium having one or more programming instructions. The system identifies an actor in an environment of the autonomous vehicle that is exhibiting unrecognized behavior or that has exhibited unrecognized behavior within a certain time period, and generates a circle associated with the actor, wherein the circle has a radius that is a function of a velocity of the actor. The system identifies one or more target points associated with the actor, where each target point represents a point along a possible route of the actor, and each target point is located along a circumference of the circle. The system assigns a score to each target point, selects the target point associated with the lowest score, and generates a reference path from the actor to the selected target point.