Patent ID: 11897461
Assignee: FORD GLOBAL TECHNOLOGIES, LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
1. A method, comprising:
by one or more electronic devices:
identifying an object that is invading a lane that an autonomous vehicle is occupying,
generating a constraint about a point of crossing, wherein the constraint comprises a direction and a length, and wherein the point of crossing represents a location of where the object and the autonomous vehicle will collide if the object maintains its current trajectory and the autonomous vehicle maintains its current trajectory,
applying the constraint to a motion plan associated with the autonomous vehicle, and
issuing one or more commands to adjust movement of the autonomous vehicle in response to encountering the constraint,
wherein generating the constraint about the point of crossing comprises generating the constraint by selecting a higher of a minimum distance or a product value as a constraint length, wherein the minimum distance represents a distance before the point of crossing, and wherein the product value represents a product of a minimum amount of time before the point of crossing and a current speed of the autonomous vehicle.