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

Claim 14:
15. The autonomous vehicle of claim 10, wherein the instructions further comprises:
for each of the time subintervals, determine a fine bounding geometry for the actor to obtain the plurality of fine bounding geometries for the actor;
determine a distance interval that corresponds to the time interval, and subdivide the distance interval on the reference curve into a plurality of distance subintervals;
for each of the distance subintervals, determine a fine bounding geometry for the autonomous vehicle; and
identify a plurality of pairs of the time intervals and corresponding distance subintervals and, for each time subinterval and distance subinterval pair:
determine whether the fine bounding geometry for the actor intersects with the fine bounding geometry for the autonomous vehicle,
if the fine bounding geometry for the actor does not intersect with the fine bounding geometry for the autonomous vehicle, continue to a next time subinterval, and
if the fine bounding geometry for the actor intersects with the fine bounding geometry for the autonomous vehicle, predict the lateral offset to a bounding geometry of the actor over the time subinterval at sample locations on the reference curve within the distance subinterval.