Patent ID: 11970168
Assignee: ZOOX, INC.
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 15:
16. A non-transitory computer-readable medium storing instruction that, when executed, cause one or more processors to perform operations comprising:
receiving sensor data from a sensor associated with a vehicle;
determining a drivable area that represents a region in which a vehicle is permitted to traverse;
determining a trajectory within the drivable area for the vehicle to follow;
determining, based at least in part on the sensor data, an object parameter associated with an object;
determining, based at least in part on the object parameter, a predicted trajectory of the object;
modifying the drivable area, based at least in part on the predicted trajectory of the object, to generate a modified drivable area, wherein the modified drivable area includes the predicted trajectory of the object;
determining, based at least in part on the trajectory being within a threshold distance of a boundary of the modified drivable area, a cost; and
determining, based at least in part on the cost, whether to modify the trajectory.