Patent ID: 11884268
Assignee: FORD GLOBAL TECHNOLOGIES, LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 17:
18. The autonomous vehicle of claim 10 wherein the instructions further include:
determine a maximum distance interval length to guarantee a detection range with respect to a reference point on the reference curve determining the distance interval δdetect=p−rturn, in which:
p is the diagonal of a parallelogram p=√{square root over (a2+ab2+2ab cos(Δθ))}, where a and h are sides of the parallelogram:, a
    =
    
      
        d
        front
      
      ⁢
      
        /
      
      ⁢
      
        sin
        ⁡
        
          (
          Δθ
          )
        
      
    
  

  
    b
    =
    
      
        d
        rear
      
      ⁢
      
        /
      
      ⁢
      
        sin
        ⁡
        
          (
          Δθ
          )
        
      
    
  

dfront and drear are distances from the reference point to front and rear of the autonomous vehicle, respectively, and
rturn is the turn radius of the reference curve, calculated as rturn=Δs/Δθ;

for each of the distance subintervals, determine a fine bounding geometry for the autonomous vehicle; and
determine whether the fine bounding geometry for the actor intersects with the fine bounding geometry for the autonomous vehicle in any time subinterval and distance subinterval pair.