TRAFFIC OBJECT INTENT ESTIMATION

A method comprises periodically monitoring, by a processor, lateral position and velocity of vehicle within a predetermined distance from an autonomous vehicle, the vehicle moving in a direction having at least one common attribute with the autonomous vehicle; executing, by the processor, a computer model using the monitored lateral position and velocity of the vehicle, to predict whether a trajectory for the vehicle; and when a current trajectory of the autonomous has a likelihood of collision with the predicted trajectory of the vehicle that satisfies a threshold, determining, by the processor, an alternative trajectory for the autonomous vehicle.