US 11,892,847 B2
Onboard use of scenario description language
Jacob Lee Askeland, San Jose, CA (US); Ryan Martin Cahoon, Mountain View, CA (US); and Gary Linscott, Cupertino, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Nov. 9, 2020, as Appl. No. 17/092,723.
Application 17/092,723 is a continuation of application No. 15/694,097, filed on Sep. 1, 2017, granted, now 10,831,202.
Prior Publication US 2021/0132613 A1, May 6, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/02 (2020.01); G05D 1/00 (2006.01); G05B 17/02 (2006.01)
CPC G05D 1/0212 (2013.01) [G05B 17/02 (2013.01); G05D 1/0088 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions program the one or more processors to perform actions comprising:
while a vehicle is operating in an environment in which the vehicle is positioned:
receiving sensor data associated with an environment;
determining, based at least in part on the sensor data, a state of the vehicle in relation with the environment;
instantiating, based on the state of the vehicle, a simulated object;
determining, by considering the simulated object as a real object in the environment, a trajectory along which the vehicle is to drive in the environment, wherein the simulated object does not correspond to a physical object in the environment; and
controlling the vehicle to follow the trajectory based at least in part on the simulated object not corresponding to the physical object in the environment.