SYSTEMS AND METHODS FOR OPERATING AN AUTONOMOUS VEHICLE

1 . A method of operating an autonomous vehicle having a trailer coupled to a rear of the autonomous vehicle, wherein the method comprises:

continuously predicting, by a controller disposed on the autonomous vehicle, a trailer trajectory that is distinct from a planned trajectory of the autonomous vehicle;

determining, by the controller, that the predicted trailer trajectory is within a minimum avoidance distance away from a stationary vehicle located on a roadway on which the autonomous vehicle is located;

modifying, by the controller, the planned trajectory of the autonomous vehicle such that the predicted trailer trajectory satisfies the minimum avoidance distance; and

causing, by the controller, the autonomous vehicle to navigate along the modified trajectory based on transmitting instructions to one or more subsystems of the autonomous vehicle.

2 . The method of claim 1 , wherein modifying the planned trajectory such that the predicted trailer trajectory satisfies the minimum avoidance distance comprises:

iteratively predicting the trailer trajectory using a modified trajectory of the autonomous vehicle until the trailer trajectory satisfies the minimum avoidance distance.

3 . The method of claim 1 , wherein the trailer trajectory is continuously predicted based on sensor data collected by the controller that indicates an angle of the trailer with respect to a lengthwise axis of the autonomous vehicle.

4 . The method of claim 1 , wherein the trailer trajectory is continuously predicted based on a curvature of the roadway that is indicated in map data accessible by the controller.

5 . The method of claim 1 , wherein the trailer trajectory is continuously predicted based on a dynamic model of the trailer whose movement is simulated by the controller, wherein the dynamic model is configured with one of multiple pre-determined weights of trailer load.

6 . The method of claim 1 , further comprising:

determining a target speed of the autonomous vehicle based on the predicted trailer trajectory; and

in response to the target speed being lower than a current speed of the autonomous vehicle, causing the autonomous vehicle to reach the target speed using engine braking.

7 . The method of claim 1 , further comprising continuously predicting a vertical tipping motion of the trailer based on a current speed of the autonomous vehicle, wherein the planned trajectory is modified to further satisfy a tipping angle limit for the trailer.

8 . The method of claim 1 , further comprising determining a likelihood that the stationary vehicle will resume movement, wherein the minimum avoidance distance is based on the likelihood.

9 . The method of claim 1 , further comprising predicting a future trajectory of the stationary vehicle, wherein the planned trajectory of the autonomous vehicle is modified such that the predicted trailer trajectory satisfies the minimum avoidance distance with respect to the future trajectory.

10 . The method of claim 1 , further comprising classifying the stationary vehicle as a normal stationary vehicle or an abnormal stationary vehicle, wherein the minimum avoidance distance from the stationary vehicle is based on the classifying.

11 . The method of claim 1 , wherein the modified trajectory includes a lane change in response to the stationary vehicle being located in a same lane as the autonomous vehicle.

12 . A system for operating an autonomous vehicle, wherein the autonomous vehicle includes a trailer coupled to a rear of the autonomous vehicle, the system comprising a computer that includes a processor configured to execute instructions to cause the system to:

continuously predict a trailer trajectory that is distinct from a planned trajectory of the autonomous vehicle;

determine that the predicted trailer trajectory is within a minimum avoidance distance away from a stationary vehicle located on a roadway on which the autonomous vehicle is located;

modify the planned trajectory of the autonomous vehicle such that the predicted trailer trajectory satisfies the minimum avoidance distance; and

cause the autonomous vehicle to navigate along the modified trajectory based on transmitting instructions to one or more subsystems of the autonomous vehicle.

13 . The system of claim 12 , wherein the trailer trajectory is continuously predicted based on trailer configuration data that includes a length of the trailer and a relative location at which the trailer is coupled to the rear of the autonomous vehicle.

14 . The system of claim 12 , wherein the processor further causes the system to:

determine a target speed of the autonomous vehicle based on the predicted trailer trajectory; and

cause the autonomous vehicle to reach the target speed at an acceleration rate that is less than a pre-determined acceleration limit.

15 . The system of claim 12 , wherein the processor further causes the system to associate the stationary vehicle to a particular lane of the roadway, wherein the modified trajectory is configured to cause the autonomous vehicle to travel to a different lane of the roadway than the particular lane.

16 . The system of claim 12 , wherein the modified trajectory includes a complete stop based on a failure to predict a trailer trajectory that navigates around the stationary vehicle while satisfying the minimum avoidance distance away from the stationary vehicle.

17 . A non-transitory computer readable program storage medium having code stored thereon, the code, when executed by a processor, causing the processor to:

continuously predicting, for an autonomous vehicle having a trailer coupled to a rear of the autonomous vehicle, a trailer trajectory that is distinct from a planned trajectory of the autonomous vehicle;

determine that the predicted trailer trajectory is within a minimum avoidance distance away from a stationary vehicle located on a roadway on which the autonomous vehicle is located;

modify the planned trajectory of the autonomous vehicle such that the predicted trailer trajectory satisfies the minimum avoidance distance; and

cause the autonomous vehicle to navigate along the modified trajectory based on transmitting instructions to one or more subsystems of the autonomous vehicle.

18 . The non-transitory computer readable program storage medium of claim 17 , wherein the trailer trajectory is continuously predicted based on and environmental conditions of the roadway and a weight of a trailer load.

19 . The non-transitory computer readable program storage medium of claim 17 , wherein the trailer trajectory is predicted based on a current speed of the autonomous vehicle, and wherein a target speed is determined in connection with the modified trajectory to satisfy the minimum avoidance distance.

20 . The non-transitory computer readable program storage medium of claim 17 , wherein the modified trajectory includes a complete stop based on the stationary vehicle occupying all lanes of the roadway.