Patent ID: 11970168
Assignee: ZOOX, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A method comprising:
determining, as a drivable area, a region in an environment on which a vehicle is permitted to traverse;
receiving sensor data from a sensor associated with the vehicle;
detecting, based at least in part on the sensor data, an object in the environment;
determining, based at least in part on the sensor data, object parameters associated with the object, wherein the object parameters comprise one or more of a velocity, a position, a classification, or an extent;
determining, based at least in part on the object parameters, a predicted trajectory of the object;
determining, based at least in part on the predicted trajectory, a modified drivable area, wherein the modified drivable area includes the predicted trajectory of the object;
determining, based at least in part on a trajectory of the vehicle being within a threshold distance of a boundary of the modified drivable area, that the trajectory is invalid;
determining, based at least in part on determining the trajectory is invalid, a modified trajectory; and
controlling the vehicle according to the modified trajectory.