Patent ID: 11964669
Assignee: ARGO AI, LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 12:
13. An autonomous vehicle, comprising:
one or more sensors; and
a computing system comprising one or more processors,
wherein the computing system is programmed and/or configured to:
receive map data and sensor data associated with a plurality of constraints in a geographic area of the autonomous vehicle;
expand a topological tree by adding a plurality of nodes to represent a plurality of actions associated with the plurality of constraints, by a process comprising:
generating, by the computing system, a bound based on a constraint of the plurality of constraints, each constraint of the plurality of constraints specifying a semantic action for traversing an object in a roadway in the geographic area, and the bound identifying at least one of a longitudinal spatial limit and a lateral spatial limit with respect to an action for navigating the autonomous vehicle relative to the constraint; and
linking the bound and one or more additional bounds sharing a common constraint in the plurality of nodes of the topological tree; and

control the autonomous vehicle based on the topological tree, to navigate the plurality of constraints.