# US 11,999,345 B2 · Velocity-based relevance filter > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,345 B2 - Document ID: US11999345B2 - Status: Granted - Kind: B2 - Application number: 17/117,641 - Filed: 2020-12-10 - Published: 2022-06-16 - Granted: 2024-06-04 - Earliest claimed: 2020-12-10 - Assignees: Zoox, Inc. - Applicants: Zoox, Inc. - Inventors: Prateek Chandresh Shah - Web page: https://patentgrep.com/patent/US11999345B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/18154: {Approaching an intersection} - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - G01C 21/3407: {specially adapted for specific applications} - G01C 21/3885: {Transmission of map data to client devices; Reception of map data by client devices} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2520/10: Longitudinal speed - B60W 2554/404: Characteristics - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract A vehicle computing system may implement techniques to improve collision prediction and avoidance between a vehicle and objects in an environment. A vehicle computing system of the vehicle generates a relevance polygon associated with a planned path of the vehicle based at least in part on a speed associated with the vehicle traveling through the environment. The vehicle computing system identifies objects in the environment and determines whether the objects are located within a boundary of the relevance polygon. Based on a determination that an object is within the boundary, the vehicle computing system determines that the object is relevant to the vehicle and includes data associated therewith in vehicle control planning considerations. ## Claims ### Claim 1 A vehicle system comprising: one or more sensors; one or more processors; and memory storing processor-executable instructions that, when executed by the one or more processors, configure the vehicle system to: receive sensor data from the one or more sensors; identify, at a first time, an object at a first location in an environment based at least in part on the sensor data; determine, at the first time, a first speed associated with a vehicle operating in the environment; determine, at a second time, a planned second speed associated with the vehicle operating in the environment; generate a relevance polygon associated with a planned path of the vehicle through the environment, the relevance polygon having a first width determined based at least in part on the first speed and a second width determined based at least in part on the planned second speed; determine that the first location of the object is outside a first boundary of the relevance polygon; determine, based at least in part on determining that the first location of the object is outside the first boundary, that the object is irrelevant to the vehicle at the first time; and control the vehicle based on exclusion of data associated with the object at the first time based at least in part on determining that the object is irrelevant to the vehicle. ### Claim 2 (depends on 1) The vehicle system of claim 1, wherein the relevance polygon comprises a first relevance polygon associated with the first speed and a second relevance polygon associated with the planned second speed. ### Claim 3 (depends on 2) The vehicle system of claim 2, wherein: the first relevance polygon comprises at least two of: a first width, a first length or a first height; the second relevance polygon comprises at least two of: a second width, a second length or a second height; the planned second speed is greater than the first speed; and at least one of: the second width is greater than the first width; the second length is greater than the first length; or the second height is greater than the first height. ### Claim 4 (depends on 1) The vehicle system of claim 1, wherein the object is a first object and the processor-executable instructions further configure the vehicle to: identify a second object at a second location in the environment based at least in part on the sensor data, wherein the second object is at least partially occluded by the first object; determine that the second object is outside of the first boundary associated with the relevance polygon; modify the relevance polygon to obtain a modified relevance polygon that includes the second location based at least in part on the second object being at least partially occluded by the first object; determine that the second object is relevant to the vehicle based at least in part on the second location being associated with the modified relevance polygon; and control the vehicle based on data associated with the second object. ### Claim 5 A method comprising: determining, at a first time, a first speed associated with a vehicle operating in an environment; determining an acceleration associated with the vehicle operating in the environment; determining, at a second time, a planned second speed associated with the vehicle operating in the environment; generating a relevance polygon associated with the vehicle, wherein the relevance polygon extends a first extent along a planned path in a direction the vehicle is traveling and a second extent normal to the planned path, the first extent determined based at least in part on the first speed and the second extent varying along the planned path based at least in part on the planned second speed and the acceleration associated with the vehicle; receiving sensor data from one or more sensors; identifying an object at a location in the environment based at least in part on the sensor data; and determining that the object is relevant to the vehicle based at least in part on the location of the object being associated with the relevance polygon. ### Claim 6 (depends on 5) The method of claim 5, further comprising: controlling the vehicle based on inclusion of data associated with the object. ### Claim 7 (depends on 5) The method of claim 5, wherein the speed is a first speed of the vehicle at a first time and the relevance polygon is a first relevance polygon, the method further comprising: determining a second speed associated with the vehicle at a second time; and generating a second relevance polygon based at least in part on the second speed. ### Claim 8 (depends on 7) The method of claim 7, wherein the first relevance polygon defines a first area, the second relevance polygon defines a second area; the second speed is less than the first speed; and the second area is less than the first area. ### Claim 9 (depends on 5) The method of claim 5, wherein the object is a first object located at a first location, the method further comprising: identifying a second object at a second location in the environment based at least in part on the sensor data; determining that the second location is outside of a boundary associated with the relevance polygon; determining that the second object is irrelevant to the vehicle; and controlling the vehicle based on exclusion of data associated with the second object. ### Claim 10 (depends on 5) The method of claim 5, wherein the object is a first object located at a first location, the method further comprising: determining a second object at a second location in the environment based at least in part on the sensor data, wherein the second object is at least partially occluded by the first object; determining that the second object is outside of a boundary associated with the relevance polygon; and modifying the relevance polygon to obtain a modified relevance polygon that includes the second location based at least in part on the second object being at least partially occluded by the first object. ### Claim 11 (depends on 5) The method of claim 5, wherein: the relevance polygon is defined by a minimum size if the speed is less than or equal to a threshold speed. ### Claim 12 (depends on 5) The method of claim 5, further comprising: receiving map data associated with the environment, wherein the relevance polygon is further based at least in part on the map data. ### Claim 13 (depends on 5) The method of claim 5, the method further comprising: determining an object type associated with the object, wherein the relevance polygon is further based at least in part on the object type. ### Claim 14 (depends on 5) The method of claim 5, wherein the relevance polygon is further defined by a third extent extending along the planned path in a direction opposite the direction of the vehicle, the third extent is determined based at least in part on the speed, and the third extent differs from the first extent. ### Claim 15 One or more non-transitory computer-readable media storing instructions executable by a processor, wherein the instructions, when executed, cause the processor to perform operations comprising: determining, at a first time, a first speed associated with a vehicle operating in an environment; determining an acceleration of the vehicle operating in the environment; determining, at a second time, a planned second speed associated with the vehicle operating in the environment; determining a region proximate the vehicle, wherein the region extends a first extent along a planned path in a direction the vehicle is traveling and a second extent normal to the planned path, the first extent determined based at least in part on the first speed and the second extent varying along the planned path based at least in part on the planned second speed and the acceleration associated with the vehicle; receiving sensor data from one or more sensors; identifying an object at a location in an environment based at least in part on the sensor data; and determining that the object is relevant to the vehicle based at least in part on the location of the object being associated with the region. ### Claim 16 (depends on 15) The one or more non-transitory computer-readable media of claim 15, wherein the region comprises a polygon, the operations further comprising: controlling the vehicle based on inclusion of data associated with the object. ### Claim 17 (depends on 15) The one or more non-transitory computer-readable media of claim 15, wherein the object is a first object at a first location, the operations further comprising: generating a representation of the environment based at least in part on the sensor data; determining, based at least in part on the representation, a second object at a second location in the environment, wherein the second object is at least partially occluded by the first object; determining that the second object is outside of a boundary associated with the region; modifying the region to obtain a modified relevance polygon that includes the second location based at least in part on the second object being at least partially occluded by the first object; and controlling the vehicle based on inclusion of data associated with the second object. ### Claim 18 (depends on 15) The one or more non-transitory computer-readable media of claim 15, wherein: the region has a size greater than or equal to a minimum size. ### Claim 19 (depends on 14) The method of claim 14, wherein a width of the relevance polygon is further based at least in part on a planned maneuver of the vehicle.