| CPC B60W 40/109 (2013.01) [B60W 30/08 (2013.01); B60W 30/10 (2013.01); B60W 30/18018 (2013.01); B60W 40/114 (2013.01); B60W 2420/403 (2013.01); B60W 2554/4049 (2020.02)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
determining a lateral motion boundary associated with a simulated vehicle traversing a simulated environment based on a driving simulation including a simulated autonomous vehicle that is different from the simulated vehicle, wherein the lateral motion boundary comprises a first side extending in a first lateral direction from the simulated vehicle and a second side extending in a second lateral direction from the simulated vehicle opposite the first lateral direction;
determining, for a simulated object in the simulated environment associated with a path of the simulated vehicle, a projection of the simulated object, based at least in part on a position of the simulated object in relation to the simulated vehicle, onto the lateral motion boundary;
determining, based at least in part on the projection, a side association of the simulated object on the lateral motion boundary, wherein the side association corresponds to the first side of the lateral motion boundary;
modifying, based at least in part on the side association of the simulated object, the lateral motion boundary to determine a modified lateral motion boundary associated with the simulated vehicle;
determining that the modified lateral motion boundary satisfies a threshold width; and
controlling the simulated vehicle based at least in part on the modified lateral motion boundary satisfying the threshold width.
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