US Patent No. 11,110,918

DYNAMIC COLLISION CHECKING


Patent No. 11,110,918
Issue Date September 07, 2021
Title Dynamic Collision Checking
Inventorship Janek Hudecek, Redwood City, CA (US)
Victoria Magdalena Dax, San Francisco, CA (US)
Assignee Zoox, Inc., Foster City, CA (US)

Claim of US Patent No. 11,110,918


1. A system comprising:one or more processors; and
one or more computer-readable media storing computer-executable instructions that, when executed, cause the one or more processors to perform operations comprising:receiving a vehicle trajectory associated with an autonomous vehicle traversing an environment;
receiving sensor data from a sensor associated with the autonomous vehicle;
determining an object represented in the sensor data;
determining an object type associated with the object;
determining a drivable area on which the autonomous vehicle is to navigate;
determining, based at least in part on the object type, a virtual boundary of the drivable area;
determining a point on the vehicle trajectory associated with a portion of the vehicle trajectory;
determining, based at least in part on the point on the vehicle trajectory, the virtual boundary of the drivable area, and a width associated with the autonomous vehicle, a cost;
determining, based at least in part on the cost, an action of the autonomous vehicle associated with the point on the vehicle trajectory; and
controlling the autonomous vehicle based at least in part on the action.