Patent ID: 11922462
Assignee: NIO TECHNOLOGY (ANHUI) CO., LTD
Field: Transport (Mechanical engineering)
Classification: CPC G  A  B | IPC A  B  G

Claim 0:
1. A vehicle, comprising:
a sensor to sense an environment surrounding the vehicle;
a vehicle control system to autonomously control driving functions of the vehicle;
a processor in communication with the sensor and the vehicle control system, the processor executing instructions stored on a memory to:
identify an object within the environment surrounding the vehicle;
determine a probabilistic vector for the object;
determine, based on the probabilistic vector for the object, that the object may collide with the vehicle;
determine, in response to determining that the object may collide with the vehicle, a path to avoid the object from a tree comprising potential paths for the vehicle, the path being determined by:
determining a root node for the tree, the root node being associated with a current position of the vehicle at a first time;
determining two or more child nodes depending from the root node in the tree and corresponding to two or more different possible positions for the vehicle at a second time subsequent to the first time;
determining probabilities of collision between the object and the vehicle for the two or more child nodes;
determining weights for the probabilities of collision for the two or more child nodes;
normalizing the probabilities of collision for the two or more child nodes by multiplying a respective weight by a respective probability of collision for each of the two or more child nodes; and
determining, prior to the second time and based on the probabilistic vector for the object and the two or more different possible positions for the vehicle at the second time, a single child node of the two or more child nodes having a lowest probability of a collision between the object and the vehicle at the second time, wherein the path to avoid the object is one of the potential paths linking the root node to the single child node in the tree; and

provide the path to the vehicle control system to autonomously control the vehicle along the path and avoid collision with the object.