Patent ID: 11884304
Assignee: FORD GLOBAL TECHNOLOGIES, LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 17:
18. The computer program product of claim 17, wherein the plurality of margins include at least one of a longitudinal margin or a lateral margin, and further including one or more instructions that, when executed by the one or more processors, cause the one or more processors to:
generate a temporal longitudinal margin associated with a relevant time interval based on time remaining until the AV reaches the actor, generate the temporal longitudinal margin includes for the relevant time interval, and determine a position of the AV on a reference path and a nearest time interval where a location of a longitudinal interval of the actor overlaps with that of the position, further comprising;
generating a spatial longitudinal margin providing information for determining proximity of the actor when moving at low speeds where the temporal longitudinal margins may be large despite the AV having a small spatial margin to the actor, generating the spatial longitudinal margin includes for the relevant time interval;
generating lateral distance table entries of the actor and determine a location interval of the reference path over which the actor is deemed within a threshold of the candidate trajectory and considered in the reference path of the AV; and
generating a lateral margin distance as a minimum lateral offset value over a longitudinal location interval of the AV for the relevant time interval being evaluated.