Patent ID: 11922462
Assignee: NIO TECHNOLOGY (ANHUI) CO., LTD
Field: Transport (Mechanical engineering)
Classification: CPC G  A  B | IPC A  B  G

Claim 1:
2. The vehicle of claim 1, wherein determining the path to avoid the object includes the processor:
determining two or more grandchild nodes depending from the single child node in the tree and corresponding to two or more different possible positions for the vehicle at a third time subsequent to the second time; and
determining, prior to the third time and based on the probabilistic vector for the object and the two or more different possible positions for the vehicle at the third time, a single grandchild node of the two or more grandchild nodes having a lowest probability of a collision between the object and the vehicle at the third time, wherein the path to avoid the object is one of the potential paths linking the root node to the single grandchild node via the single child node in the tree.