Systems and Methods for Prediction of a Jaywalker Trajectory Through an Intersection

Methods and systems for controlling navigation of a vehicle are disclosed. The system will first detect a URU within a threshold distance of a drivable area that a vehicle is traversing or will traverse. The system will then receive perception information relating to the URU, and use a plurality of features associated with each of a plurality of entry points on a drivable area boundary that the URU can use to enter the drivable area to determine a likelihood that the URU will enter the drivable area from that entry point. The system will then generate a trajectory of the URU using the plurality of entry points and the corresponding likelihoods, and control navigation of the vehicle while traversing the drivable area to avoid collision with the URU.