US 2021/0261122 A1 · COLLISION PREDICTION AND AVOIDANCE FOR VEHICLES

Abstract

A vehicle computing system may implement techniques to control a vehicle to avoid collisions between the vehicle and agents (e.g., dynamic objects) in an environment. The techniques may include generating a representation of a path of the vehicle through an environment as a polygon. The vehicle computing system may compare the two-dimensional path with a trajectory of an agent determined using sensor data to determine a collision zone between the vehicle and the agent. The vehicle computing system may determine a risk of collision based on predicted velocities and probable accelerations of the vehicle and the agent approaching and traveling through the collision zone. Based at least in part on the risk of collision, the vehicle computing system may cause the vehicle to perform an action.

Claims20

Dependent claims

A system comprising:

one or more processors;
and
one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving a vehicle trajectory associated with a vehicle operating in an environment;
receiving an object trajectory associated with an object in the environment;
and
determining a likelihood of collision between the vehicle and the object based at least in part on an overlap between the vehicle trajectory and the object trajectory, wherein the overlap represents a period of time corresponding to when the vehicle and the object are predicted to be located in an area proximate an intersection of the vehicle trajectory and the object trajectory.

4 more elements

Dependencies are inferred from the claim text.

Collision prediction and avoidance for vehicles

Life of this patent

Collision prediction and avoidance for vehicles

Life of this patent

Abstract

Claims20