SYSTEMS AND METHODS FOR CONTROLLING VEHICLES USING AN AMODAL CUBOID BASED ALGORITHM

Systems/methods for controlling an Autonomous Vehicle (“AV”). The methods comprise: generating LiDAR datasets measuring a distance from AV to an object at different times; plotting each LiDAR dataset on a 3D graph; defining an amodal cuboid on each 3D graph; selecting different positions for amodal cuboid in 3D graphs; determining coordinates for an amodal cuboid center point at different positions within 3D graphs; using Center Point Coordinates (“CPCs”) to compute velocity and acceleration values for the object at each time; using CPCs to compute Single Frame Score (“SFS”) values; using velocity values, acceleration values and SFS values to compute scores for different cuboid positions in 3D graphs; using the scores as inputs to a Viterbi algorithm for determining a most likely sequence of states for the object given the LiDAR datasets; and using the most likely sequence of states for the object by AV to facilitate autonomous driving operation(s).