Occupancy grid movie system

A method performed by a processor of a computing system of an autonomous vehicle, comprising:

• selecting a first shaped cached query object from cached query objects that provides a first representation of the autonomous vehicle, the cached query objects respectively specify indices of cells of a grid occupied by a representation of the autonomous vehicle;
• querying whether first cells of an occupancy grid for an environment surrounding the autonomous vehicle are occupied utilizing the first shaped cached query object;
• determining a first portion of a motion plan for the autonomous vehicle based on whether the first cells of the occupancy grid are occupied;
• selecting a second shaped cached query object from the cached query objects that provides a differing second representation of the autonomous vehicle, wherein the first shaped cached query object and the second shaped cached query object have differing shapes;
• querying whether second cells of the occupancy grid for the environment surrounding the autonomous vehicle are occupied utilizing the second shaped cached query object;
• determining a second portion of the motion plan for the autonomous vehicle based on whether the second cells of the occupancy grid are occupied;
• and
• controlling the autonomous vehicle based on the motion plan.

A computing system, comprising:

• a processor;
• and
• memory storing:
• cached query objects that respectively specify indices of cells of a grid occupied by a representation of an autonomous vehicle;
• and
• computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising:
• selecting a first shaped cached query object from the cached query objects that provides a first representation of the autonomous vehicle;
• querying whether first cells of an occupancy grid for an environment surrounding the autonomous vehicle are occupied utilizing the first shaped cached query object;
• determining a first portion of a motion plan for the autonomous vehicle based on whether the first cells of the occupancy grid are occupied;
• selecting a second shaped cached query object from the cached query objects that provides a differing second representation of the autonomous vehicle, wherein the first shaped cached query object and the second shaped cached query object have differing shapes;
• querying whether second cells of the occupancy grid for the environment surrounding the autonomous vehicle are occupied utilizing the second shaped cached query object;
• determining a second portion of the motion plan for the autonomous vehicle based on whether the second cells of the occupancy grid are occupied;
• and
• controlling the autonomous vehicle based on the motion plan.