Closed lane detection

A system comprising:

• one or more processors;
• and
• one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:
• receiving sensor data from a sensor;
• determining, based at least in part on the sensor data, an object detection indicating a location of an object in an environment and a size of the object;
• modifying the object detection by increasing the size of the object to obtain a dilated object detection;
• determining a distance between the dilated object detection and another object or drivable area limiting feature;
• determining that the distance is less than or equal to a distance threshold;
• and
• controlling, based at least in part on the distance being less than or equal to the distance threshold, a vehicle.

One or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:

• receiving sensor data from a sensor;
• determining, based at least in part on the sensor data, an object detection indicating a location of an object in an environment and a size of the object;
• modifying the object detection by increasing the size of the object to obtain a dilated object detection;
• determining a distance between the dilated object detection and another object or drivable area limiting feature;
• determining that the distance is less than or equal to a distance threshold;
• and
• controlling, based at least in part on the distance being less than or equal to the distance threshold, a vehicle.