Patent ID: 11970164
Assignee: ZOOX, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 5:
6. A non-transitory computer-readable storage media storing instructions that, when executed, cause one or more processors to perform operations comprising:
receiving sensor data from a sensor associated with a vehicle;
determining, based at least in part on the sensor data, an object type of a potential object associated with an occluded region in an environment;
determining a first object trajectory, wherein the first object trajectory comprises a predicted trajectory most likely to be taken by the potential object associated with the occluded region at a point in time;
determining a second object trajectory, wherein the second object trajectory comprises a trajectory associated with an adverse action of the potential object that has potential to most impact operation of the vehicle at the point in time, wherein the second object trajectory is different from the first object trajectory;
determining a first candidate trajectory for the vehicle based at least in part on the first object trajectory;
determining a second candidate trajectory for the vehicle based at least in part on the second object trajectory, wherein the second candidate trajectory is different from the first candidate trajectory; and
controlling operation of the vehicle, wherein controlling operation of the vehicle comprises:
if the potential object is not performing the adverse action, controlling operation of the vehicle based on the first candidate trajectory; and
else if the potential object is performing the adverse action, controlling operation of the vehicle based on the second candidate trajectory.