| CPC G05D 1/0088 (2013.01) [G05D 1/0214 (2013.01); B60W 60/0027 (2020.02); G05D 1/0221 (2013.01)] | 20 Claims |
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1. One or more non-transitory computer readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:
generating a discretized probability distribution representative of a physical environment at a future time, the discretized probability distribution comprising a plurality of cells representative of an area in the physical environment, a first cell of the plurality of cells representing a first prediction probability that an object in the physical environment is at a first location at the future time and a second cell of the plurality of cells representing a second prediction probability that the object in the physical environment is at a second location at the future time;
receiving a reference trajectory associated with an autonomous vehicle; and
determining, based at least in part on the discretized probability distribution, a drivable area comprising a bounded area in the physical environment through which the reference trajectory passes and having an associated width and length,
wherein determining the drivable area comprises performing a ray trace to determine a nearest occupied region in the physical environment.
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