CPC G01C 21/3461 (2013.01) [G01C 21/3626 (2013.01); G01C 21/3697 (2013.01); G08G 1/164 (2013.01); G08G 1/165 (2013.01); G08G 1/166 (2013.01)] | 20 Claims |
1. A non-transitory computer-readable storage medium storing instructions that, when executed by a processor, cause the processor to perform operations comprising:
obtaining, using a vehicle, a map of an environment comprising multiple objects, each of the objects associated with a respective probability model describing a probability field of the vehicle colliding with the object;
obtaining, using the vehicle, a global factor from one or more data stores, the global factor applying to all of the multiple objects;
obtaining, from one or more sensors, a local factor applying to a portion of the multiple objects;
updating, using at least the global factor and the local factor, the probability fields of the probability models to obtain updated probability models;
determining, from the updated probability models, a first total probability of collision of the vehicle with at least one of the multiple objects along a first potential navigation path; and
determining, based at least on the first total probability of collision, a navigation for the vehicle through at least a part of the environment.
|