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 |
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.
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