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

Claim 0:
1. A method comprising:
based at least on a target position and an orientation of a vehicle, computing a state uncertainty of one or more bodies of the vehicle whose relative motion is constrained with respect to one or more other bodies of the vehicle;
computing, at a time step, a confidence for an individual uncertainty representation type of a plurality of uncertainty representation types
selecting, based at least on the confidence, the uncertainty representation type of the plurality of uncertainty representation types for generating an uncertainty representation;
based at least on the state uncertainty, generating an uncertainty representation for the vehicle indicative of a probability distribution corresponding to a likelihood that the vehicle will occupy individual points of a plurality of first points in world space, wherein:
a first portion of the probability distribution that corresponds to a nominal position of the one or more bodies being associated with one or more first probability values; and
a second portion of the probability distribution that corresponds to the state uncertainty of the one or more bodies being associated with one or more second probability values;
determining one or more second points in world space corresponding to an actor;
selecting a candidate path from a plurality of candidate paths for the vehicle based at least on an amount of overlap between the plurality of first points and the one or more second points; and
causing the vehicle to navigate according to the candidate path.