Patent ID: 11958503
Assignee: MOTIONAL AD LLC
Field: Measurement (Instruments)
Classification: CPC B  G | IPC B  G

Claim 20:
21. The system of claim 1, wherein the one or more non-transitory storage media storing instructions which, when executed by the one or more computer processors, further cause performance of operations comprising:
calculating the first cost component (Cright) and the second cost component (Cright) usign the following equation:

Cright=ωλright·max(−{dot over (d)}lat,0)2 

Cleft=ωλleft·max({dot over (d)}lat,0)2 

λright and λleft∈[0,1],, where represents a weight factor, λright and λleft respectively represent a perceived risk to right and left sides of the vehicle, and {dot over (d)}lat represents a time derivative of clearance between the vehicle and the first or second obstacle.