SYSTEM FOR ANTICIPATING FUTURE STATE OF AN AUTONOMOUS VEHICLE

At the start of a path planning cycle for an autonomous vehicle, the system identifies a current plan associated with the autonomous vehicle, a speed plan that defines one or more velocities over time for the autonomous vehicle during the path planning cycle, and a current state of the autonomous vehicle. The current plan includes a spatial plan that defines a proposed trajectory for the autonomous vehicle during the path planning cycle. The current state defines one or more dynamic states of the autonomous vehicle. The system generates a sequence of predicted states of the autonomous vehicle over a prediction horizon period, identifies a predicted state from the sequence that corresponds to a publishing time of an updated plan for the autonomous vehicle, generates the updated plan, and causes the autonomous vehicle to execute the updated plan.