US 11,938,926 B2
Polyline contour representations for autonomous vehicles
Dong Li, Los Gatos, CA (US); Ioan-Alexandru Sucan, East Palo Alto, CA (US); and Victor Puchkarev, Sunnyvale, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jul. 27, 2021, as Appl. No. 17/386,113.
Application 17/386,113 is a continuation of application No. 16/688,017, filed on Nov. 19, 2019, granted, now 11,260,857.
Application 16/688,017 is a continuation of application No. 16/687,974, filed on Nov. 19, 2019, granted, now 11,136,025.
Claims priority of provisional application 62/889,698, filed on Aug. 21, 2019.
Prior Publication US 2021/0362708 A1, Nov. 25, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 40/12 (2012.01); G05D 1/00 (2006.01); G05D 1/02 (2020.01); G06V 10/44 (2022.01); G06V 20/58 (2022.01)
CPC B60W 30/09 (2013.01) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 40/12 (2013.01); G05D 1/0088 (2013.01); G05D 1/0212 (2013.01); G06V 10/44 (2022.01); G06V 20/58 (2022.01); B60W 2422/90 (2013.01); B60W 2554/00 (2020.02); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of controlling a vehicle having an autonomous driving mode, the method comprising:
receiving, by one or more processors, a first polygon representative of a shape and location of a first object;
receiving, by the one or more processors, a polyline contour representation of a portion of a second polygon representative of a shape and location of a second object;
converting, by the one or more processors, coordinates of the first polygon to a half-plane coordinate system;
determining, by the one or more processors, a collision location between the polyline contour representation and the first polygon using the converted coordinates; and
controlling, by the one or more processors, the vehicle in the autonomous driving mode to avoid a collision with an object based on the collision location.