AUTONOMOUS VEHICLE TAIL ALIGNMENT NAVIGATION

A system for navigating an autonomous vehicle along a road segment is disclosed. The system may have at least one processor. The processor may be programmed to receive from an image capture device, images representative of an environment of the autonomous vehicle. The processor may also be programmed to determine a travelled trajectory along the road segment based on analysis of the images. Further, the processor may be programmed to determine a current location of the autonomous vehicle along a predetermined road model trajectory based on analysis of one or more of the plurality of images. The processor may also be programmed to determine a heading direction based on the determined traveled trajectory. In addition, the processor may be programmed to determine a steering direction, relative to the heading direction, by comparing the traveled trajectory to the predetermined road model trajectory at the current location of the autonomous vehicle.