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US 12,337,835 B2Granted
Polyline contour representations for autonomous vehicles
AssigneeWaymo LLC
InventorsDong Li, Ioan-Alexandru Sucan, Victor Puchkarev
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AssigneeWaymo LLC
InventorsDong Li, Ioan-Alexandru Sucan, Victor Puchkarev
Estimating the term…
Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode or an autonomous vehicle. For instance, a polygon representative of the shape and location of a first object may be received. A polyline contour representation of a portion of a polygon representative of the shape and location of a second object may be received. The polyline contour representation may be in half-plane coordinates and including a plurality of vertices and line segments. Coordinates of the polygon representative of the first object may be converted to the half-plane coordinate system. A collision location between the polyline contour representation and the polygon representative of the first object may be determined using the converted coordinates. The autonomous vehicle may be controlled in the autonomous driving mode to avoid a collision based on the collision location.
A method of controlling a vehicle having an autonomous driving mode, the method comprising:
A system for controlling a vehicle having an autonomous driving mode, the system comprising one or more processors:
A non-transitory recording medium on which instructions are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method of controlling a vehicle having an autonomous driving mode, the method comprising:
Dependencies are inferred from the claim text.