Systems and methods for scene understanding

A system, comprising:

• a memory;
• and
• at least one processor coupled to the memory and configured to:
• analyze sensor data to detect a moving object in an environment and at least one obstacle that the moving object is unable to traverse;
• generate a definition for a location of the obstacle in the environment in terms of reference frames defined for a lane and distances from a left boundary of the lane to edges of the obstacle;
• use the definition for the location of the obstacle and known dimensions of the moving object to detect any free space around the obstacle through which the moving object can traverse;
• generate the possible object trajectory based on the detection of any free space;
• generate a vehicle trajectory for a vehicle based on the object trajectory;
• and
• perform operations to control the vehicle to follow the vehicle trajectory.

A non-transitory computer-readable medium that stores instructions that is configured to, when executed by at least one computing device, cause the at least one computing device to perform operations comprising:

• analyzing sensor data to detect a moving object in an environment and at least one obstacle that the moving object is unable to traverse;
• generating a definition for a location of the obstacle in the environment in terms of reference frames defined for a lane and distances from a left boundary of the lane to edges of the obstacle;
• using the definition for the location of the obstacle and known dimensions of the moving object to detect any free space around the obstacle through which the moving object can traverse;
• generating the possible object trajectory based on the detection of any free space;
• generating a vehicle trajectory for a vehicle based on the object trajectory;
• and
• performing operations to control the vehicle to follow the vehicle trajectory.