Patent ID: 11880203
Assignee: ARGO AI, LLC
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 18:
19. A system for controlling navigation of an autonomous vehicle for traversing a drivable area, the system comprising:
a processor; and
a non-transitory computer readable medium comprising one or more programming instructions that, when executed by a processor, will cause the processor to:
receive information relating to a drivable area in an environment of the autonomous vehicle, wherein the drivable area comprises a plurality of polygons,
identify a plurality of logical edges that form a boundary of the drivable area,
sequentially, starting from an initial one of the plurality of logical edges and along the boundary of the drivable area, analyze concavities of each the plurality of logical edges until identification of a first logical edge that has a concavity greater than a threshold,
upon identification of the first logical edge, create a first logical segment of the boundary of the drivable area, the first logical segment comprising:
the initial one of the plurality of logical edges,
any logical edge that lies between the initial one of the plurality of logical edges and the first logical edge, and
at least a portion of the first logical edge;

identify a portion of the initial logical edge that has a first concavity greater than the threshold upon identification of the portion, divide the initial logical edge into two logical segments,
repeat the sequentially analyzing and creating steps until each of the plurality of logical edges has been classified into one of a plurality of logical segments of the boundary of the drivable area, each of the plurality of logical segments representative of a potential goal, on the drivable area boundary, of an actor when traversing the drivable area,
create a data representation of the drivable area that comprises an indication of the plurality of logical segments, and
add the data representation to a road network map comprising the drivable area, and
use the data representation to control navigation of the autonomous vehicle for traversing the drivable area.