Patent ID: 11964669
Assignee: ARGO AI, LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 15:
16. The autonomous vehicle of claim 15, wherein the one or more processors are further programmed and/or configured to perform at least one of:
a) prune a bound based on feasibility, by a process comprising:
comparing the bound against a plurality of opposing active bounds, wherein the bound is either a minimum bound and the opposing bounds are maximum bounds, or the bound is a maximum bound and the opposing bounds are minimum bounds;
determining an overlap between a sample index interval of the bound and a sample index interval of at least one of the plurality of opposing active bounds; and
pruning, from the topological tree, the tree node associated with the bound based on infeasibility when a bound distance of the bound and a bound distance of an opposite bound violate each other by a feasibility tolerance threshold at any overlapping sample index;

b) prune a bound based on strict redundancy, by a process comprising:
identifying a redundant tree node by comparing a first plurality of active bounds in a first node and a second plurality of active bounds in a second node, wherein the tree node is redundant when the first node and the second node have identical active bound identifiers or one or more collapsed bounds are within a redundant tolerance threshold; and
pruning the redundant tree node for redundancy from the topological tree; or

c) prune a bound based on the fuzzy redundancy, by a process comprising:
generating and storing in a central bound storage, a collapsed minimum and maximum longitudinal distance associated with a greatest restrictive bound distance of the bound or the one or more additional bounds of the tree node at each sample time/location;
generating a plurality of tolerances at a plurality of sample indexes that increase as a distance of a sample increases between a distance of an initial sample of the plurality of sample indexes;
comparing, for each of the plurality of tolerances, for each pair of tree nodes that are not pruned, when a number of tree nodes is above a threshold number of unpruned tree nodes, both of a collapsed minimum and maximum longitudinal bound with a tolerance of each sample index; and
pruning a node found to be a least restrictive node when a bound distance associated with the node is within a tolerance of the plurality of tolerances at each sample index of the plurality of sample indexes.