CPC G06V 20/588 (2022.01) [B60W 50/14 (2013.01); G01S 7/4808 (2013.01); G01S 17/10 (2013.01); G01S 17/86 (2020.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01)] | 20 Claims |
1. A method comprising:
receiving sensor data from a sensor associated with a vehicle, the sensor data representing a first point associated with a drivable surface and a second point associated with a non-drivable surface at a different height than the drivable surface;
determining, based on the sensor data, a first surface line representing the drivable surface and a second surface line representing the non-drivable surface;
determining, based on the first surface line and the second surface line, a separation point between the first surface line and the second surface line, wherein the separation point comprises a boundary between the drivable surface and the non-drivable surface; and
controlling the vehicle based at least in part on the separation point.
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