Patent ID: 8825265

Claim:
A method comprising: tracking a plurality of road vehicles to obtain a plurality of observed trajectories, each one of the plurality of observed trajectories including locations passed by a given road vehicle from the plurality of road vehicles; generating, by a processor, a plurality of trajectories, each one of the plurality of generated trajectories being generated using a different observed trajectory as a base, and each one of the plurality of generated trajectories being generated by: (i) selecting one of the plurality of observed trajectories as the base; (ii) combining the selected observed trajectory with remaining ones in the plurality of observed trajectories to generate a resultant set of locations; and (iii) combining the resultant set of locations with all observed trajectories in the plurality; selecting a first generated trajectory from the plurality of generated trajectories; and changing at least one of a speed of the given road vehicle and a direction of the given road vehicle based on the selected first generated trajectory.