Collision evaluation using a hierarchy of grids
US12037017B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 15, 2020 |
| Grant date | Jul 16, 2024 |
| Priority date | — |
| Expiry date | Oct 15, 2040 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60W2554/80
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
Aspects of the disclosure provide for evaluation of a planned trajectory for an autonomous vehicle. For instance, for each of a plurality of objects, a predicted trajectory may be received. The planned trajectory may identify locations and times that the vehicle will be at those locations. For each of the plurality of objects, a grid including a plurality of cells may be generated. Occupancy of each grid for each of the plurality of objects may be determined based on the predicted trajectories. A cell of each grid which will be occupied by the vehicle at a location and time of the planned trajectory may be identified. The planned trajectory may be evaluated based on whether any identified cell is occupied by any of the plurality of objects at the time.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.