SYSTEM AND METHOD FOR LANE ASSOCIATION/TRANSITION ASSOCIATION WITH SPLINES

A method for vehicle behavior prediction is described. The method includes detecting a vehicle entering an unmarked road segment. The method also includes determining a set of exit paths available for the detected vehicle to reach different exit lanes of the unmarked road segment. The method further includes predicting an exit path taken by the detected vehicle from the set of exit paths available for the detected vehicle to reach the different exit lanes of the unmarked road segment. The method also includes planning a trajectory of an ego vehicle according to the predicted exit path taken by the detected vehicle to reach an exit lane of the unmarked road segment.