Patent ID: 11884268
Assignee: FORD GLOBAL TECHNOLOGIES, LLC
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 5:
6. The method of claim 1, further comprising:
for each of the time subintervals, determining a fine bounding geometry for the actor to obtain the plurality of fine bounding geometries for the actor;
determining a distance interval that corresponds to the time interval, and subdividing the distance interval on the reference curve into a plurality of distance subintervals;
for each of the distance subintervals, determining a fine bounding geometry for the autonomous vehicle; and
identifying a plurality of pairs of the time intervals and corresponding distance subintervals and, for each time subinterval and distance subinterval pair:
determining whether the fine bounding geometry for the actor intersects with the fine bounding geometry for the autonomous vehicle,
if the fine bounding geometry for the actor does not intersect with the fine bounding geometry for the autonomous vehicle, continuing to a next time subinterval, and
if the fine bounding geometry for the actor intersects with the fine bounding geometry for the autonomous vehicle, predicting the lateral offset to a bounding geometry of the actor over the time subinterval at sample locations on the reference curve within the distance subinterval.