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

Claim 2:
3. The method of claim 1, wherein:
using the predicted lateral offset distance to determine a trajectory for the autonomous vehicle comprises determining, from the predicted lateral offset distance, one or more regions of configuration space for the autonomous vehicle that are occupied by the actor, and one or more regions of configuration space for the autonomous vehicle that are free of the actor;
the method further comprises determining whether a planned trajectory for the autonomous vehicle will conflict with any of the occupied regions of a configuration space; and
the method further comprises, when the planned trajectory for the autonomous vehicle will conflict with any of the occupied regions of the configuration space, altering the planned trajectory to be fully within a free configuration space for the autonomous vehicle and outside of an occupied configuration space for the autonomous vehicle.