Bidirectional path optimization in a grid

A method, comprising:

• receiving data associated with an environment of a vehicle;
• determining an occupancy map of the environment using the data;
• generating a reference path to a destination location for the vehicle;
• determining a travel path to an intermediate location in the occupancy map based at least in part on the reference path and a longitudinal direction variable, wherein the intermediate location is proximate a point on the reference path, and wherein the longitudinal direction variable is associated with a forward longitudinal direction and a backward longitudinal direction;
• and
• generating actuation commands for the vehicle based at least in part on the travel path.

A system, comprising:

• at least one processor, and
• at least one non-transitory storage media storing instructions that, when executed by the at least one processor, cause the at least one processor to:
• receive data associated with an environment of a vehicle;
• determine an occupancy map of the environment using the data;
• generate a reference path to a destination location for the vehicle;
• determine a travel path to an intermediate location in the occupancy map based at least in part on the reference path and a longitudinal direction variable, wherein the intermediate location is proximate a point on the reference path, and wherein the longitudinal direction variable is associated with a forward longitudinal direction and a backward longitudinal direction;
• and
• generate actuation commands for the vehicle based at least in part on the travel path.

At least one non-transitory storage media storing instructions that, when executed by at least one processor, cause the at least one processor to:

• receive data associated with an environment of a vehicle;
• determine an occupancy map of the environment using the data;
• generate a reference path to a destination location for the vehicle;
• determine a travel path to an intermediate location in the occupancy map based at least in part on the reference path and a longitudinal direction variable, wherein the intermediate location is proximate a point on the reference path, and wherein the longitudinal direction variable is associated with a forward longitudinal direction and a backward longitudinal direction;
• and
• generate actuation commands for the vehicle based at least in part on the travel path.