Collision evaluation using a hierarchy of grids

A system for controlling an autonomous vehicle, the system comprising one or more processors configured to:

• generate a plurality of sets of grids, each set including two or more grids;
• perform a first collision evaluation of a first section of the autonomous vehicle using a first set of grids of the plurality of sets of grids centered around the first section, wherein the first set of grids corresponds to a particular point in time;
• perform a second collision evaluation of a second section of the autonomous vehicle using a second set of grids of the plurality of the plurality of sets of grids centered around the second section, wherein the second set of grids corresponds to the particular point in time;
• and
• control the autonomous vehicle in an autonomous driving mode based, at least in part, on the first collision evaluation and the second collision evaluation.

At least one non-transitory computer-readable storage medium comprising computer-executable instructions that, when executed by at least one processor, performs a method of controlling an autonomous vehicle, the method comprising:

• generating, by one or more processors of the autonomous vehicle, a plurality of sets of grids, each set including two or more grids;
• performing, by the one or more processors, a first collision evaluation of a first section of the autonomous vehicle using a first set of grids of the plurality of sets of grids, wherein the first set of grids corresponds to a particular point in time;
• performing, by the one or more processors, a second collision evaluation of a second section of the autonomous vehicle using a second set of grids of the plurality of sets of grids, wherein the second set of grids corresponds to the particular point in time;
• and
• controlling, by the one or more processors, the autonomous vehicle in an autonomous driving mode based, at least in part, on the first collision evaluation and the second collision evaluation.