Patent ID: 11878682
Assignee: NVIDIA CORPORATION
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 10:
11. A system comprising:
one or more processing units to:
determine one or more locations in world space corresponding to a target position along a plurality of candidate paths of a vehicle;
determine a current state of the vehicle, the current state including at least a position and orientation of the vehicle;
compute, at a time step, a confidence for an individual uncertainty representation type of a plurality of uncertainty representation types;
select, based at least on the confidence, the uncertainty representation type of the plurality of uncertainty representation types for generating one or more uncertainty representations associated with the candidate path;
based at least on the current state of the vehicle and the one or more locations, generate the one or more uncertainty representations for the vehicle along a plurality of candidate paths, an uncertainty representation of the one or more uncertainty representations corresponding to a probability that the vehicle occupies a plurality of first points in world space;
determine a plurality of second points corresponding to an actor detected based at least on sensor data generated using one or more sensors of the vehicle;
determine at least an overlap penalty for a first candidate path of the plurality of candidate paths based at least on an amount of overlap between the plurality of first points and the plurality of second points;
determine a filtered set of candidate paths based at least on filtering out the first candidate path that is associated with the overlap penalty that is greater than a threshold;
select a second candidate path from the filtered set of candidate paths based at least on a comfort measure associated with the second candidate path; and
cause the vehicle to navigate according to the second candidate path.