Patent ID: 7803054

Claim:
A device comprising: at least one processor; and one or more media including processor-executable instructions that are executed by the at least one processor, the processor-executable instructions adapted to direct the device to perform actions comprising: producing an interpolated vehicle state from a predicted vehicle state via an interpolation, the predicted vehicle state received from another device via a network; determining a latency of the network between the device and the another device; adjusting a global time based on the latency; maintaining time synchronization between the device and the another device; and tuning the interpolation of the predicted vehicle state with regard to collisions by expanding collision geometry of a vehicle model associated with the predicted vehicle state, the expanded collision geometry comprises two or more collision spheres located at least partially over a boundary edge of the vehicle model, wherein the two or more collision spheres define and mathematically model where and when a collision occurs to the vehicle model for tuning the interpolated vehicle state.