PLANNING UNDER PREDICTION WITH CONFIDENCE REGION FOR AN AUTONOMOUS DRIVING VEHICLE

An obstacle is detected based on sensor data obtained from a plurality of sensors of the ADV. A distribution of a plurality of positions of the obstacle at a point of time may be predicted. A range of positions of the plurality of positions of the obstacle may be determined based on a confidence level of the range. A modified shape with a modified length of the obstacle may be determined based on the range of positions of the obstacle. A trajectory of the ADV based on the modified shape with the modified length of the obstacle may be planned. The ADV may be controlled to drive according to the planned trajectory to drive safely to avoid a collision with the obstacle.