Patent ID: 11938926
Assignee: WAYMO LLC
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A method of controlling a vehicle having an autonomous driving mode, the method comprising:
receiving, by one or more processors, a first polygon representative of a shape and location of a first object;
receiving, by the one or more processors, a polyline contour representation of a portion of a second polygon representative of a shape and location of a second object;
converting, by the one or more processors, coordinates of the first polygon to a half-plane coordinate system;
determining, by the one or more processors, a collision location between the polyline contour representation and the first polygon using the converted coordinates; and
controlling, by the one or more processors, the vehicle in the autonomous driving mode to avoid a collision with an object based on the collision location.