Abstract:
Systems and methods for determining one or more juke events are provided. The method includes generating, for an initial trajectory cycle, an initial planned trajectory of an autonomous vehicle, using a motion planning module, and generating, for a subsequent trajectory cycle, a subsequent planned trajectory of the autonomous vehicle, using the motion planning module. Each of the initial planned trajectory and the subsequent planned trajectory includes a series of planned steering wheel angles over a period of time and a steering wheel angle rate of change over the period of time. The method further includes identifying one or more first juke event qualifiers and one or more second juke event qualifiers, and identifying one or more juke events, wherein each juke event correlates to a time interval at which a first juke event qualifier and a second juke event qualifier occur within a threshold length of time from each other.