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

Claim 11:
12. The autonomous vehicle of claim 10, wherein:
the instructions to use the predicted lateral offset distance to determine a trajectory for the autonomous vehicle comprise instructions to determine, 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; and
the memory also comprises instructions to:
determine whether a planned trajectory for the autonomous vehicle will conflict with any of the occupied regions of a configuration space, and
when the planned trajectory for the autonomous vehicle will conflict with any of the occupied regions of the configuration space, alter 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.