A method for an autonomous vehicle to follow a target is provided. The method may include obtaining a trajectory point of a target being followed by an autonomous vehicle, the trajectory point being determined based on a location that the target crossed a circle extending a first radius from a previous trajectory point along a path traversed by the target. The method may also include obtaining path restriction data indicating a location not to be traversed by the autonomous vehicle and when the trajectory point is located in the location not to be traversed by the autonomous vehicle, determining trajectory points around the location not to be traversed. The method may also include determining a path distance between the target and the autonomous vehicle based on distances between the trajectory point and the determined trajectory point and adjusting a velocity of the autonomous vehicle based on the determined path distance.
