Dynamic collision checking
AssigneeZoox, Inc.
InventorsJanek Hudecek, Victoria Magdalena Dax
Life of this patent
Estimating the term…
Abstract
Techniques for generating trajectories and drivable areas for navigating a vehicle in an environment are discussed herein. The techniques can include receiving a trajectory representing an initial trajectory for a vehicle, such as an autonomous vehicle, to traverse the environment in a drivable area. A location can be determined along the trajectory. A cost associated with the location can determined and can be evaluated with respect to a cost threshold. Further, the techniques can include determining, based at least in part on the cost meeting or exceeding the cost threshold, an action associated with the location, and controlling the autonomous vehicle to traverse the environment based at least in part on the action.
Claims20
A system comprising:
- one or more processors;
- and
- one or more computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:
- receiving a vehicle trajectory associated with an autonomous vehicle traversing an environment;
- receiving sensor data from a sensor associated with the autonomous vehicle;
- determining an object represented in the sensor data;
- determining an object type associated with the object;
- determining a drivable area on which the autonomous vehicle is to navigate;
- determining, based at least in part on the object type, a virtual boundary of the drivable area;
- determining a point on the vehicle trajectory associated with a portion of the vehicle trajectory;
- determining, based at least in part on the point on the vehicle trajectory, the virtual boundary of the drivable area, and a width associated with the autonomous vehicle, a cost;
- determining, based at least in part on the cost, an action of the autonomous vehicle associated with the point on the vehicle trajectory;
- and
- controlling the autonomous vehicle based at least in part on the action.
A method comprising:
- receiving a trajectory associated with a vehicle traversing an environment;
- receiving sensor data from a sensor associated with the vehicle;
- determining a variable width drivable area;
- determining a location associated with the trajectory;
- determining, based at least in part on the trajectory and the variable width drivable area, a cost associated with the location;
- determining an action of the vehicle associated with the location;
- and
- controlling, based at least in part on the action, the vehicle to traverse the environment.
A non-transitory computer-readable medium storing instructions executable by a processor, wherein the instructions, when executed, cause the processor to perform operations comprising:
- receiving a trajectory associated with a vehicle traversing an environment;
- receiving sensor data from a sensor associated with the vehicle;
- determining, based at least in part on the sensor data, an object in the environment;
- determining an object type associated with the object;
- determining, based at least in part on the object type, a drivable area;
- determining a location associated with a portion of the trajectory;
- determining, based at least in part on the trajectory and the drivable area, a cost associated with the location;
- determining an action of the vehicle associated with the location;
- and
- controlling, based at least in part on the action, the vehicle to traverse the environment.
Dependencies are inferred from the claim text.