Patent ID: 11878682
Assignee: NVIDIA CORPORATION
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 19:
20. A method comprising:
determining a current state of a vehicle, the current state including at least a position and orientation of the vehicle;
determining one or more locations in world space corresponding to a target position along a plurality of candidate paths of a vehicle;
computing, at a time step, a confidence for an individual uncertainty representation type of a plurality of uncertainty representation types;
selecting, based at least on the confidence, the uncertainty representation type of the plurality of uncertainty representation types for generating an uncertainty representation;
based at least on the state uncertainty for the vehicle at a time, generating the uncertainty representation for the vehicle along the plurality of candidate paths indicative of a probability that the vehicle occupies one or more first points in space, the vehicle comprising a tractor portion and a trailer portion, wherein a first portion of the uncertainty representation corresponds to a nominal position of the trailer portion and a second portion of the uncertainty representation corresponds to the state uncertainty of the trailer portion;
determining one or more second points in space corresponding to an actor based at least on sensor data generated using one or more sensors of the vehicle; and
determining at least an overlap penalty for a first candidate path of the plurality of candidate paths based at least on an amount of overlap between the plurality of first points and the plurality of second points;
determine a filtered set of candidate paths based at least on filtering out the first candidate path that is associated with the overlap penalty that is greater than a threshold;
selecting a second candidate path from the filtered set of paths based at least on a comfort measure associated with the second candidate path; and
causing the vehicle to navigate according to the second candidate path.