US 11,875,681 B2
Drive envelope determination
Timothy Caldwell, Mountain View, CA (US); Dan Xie, Santa Clara, CA (US); William Anthony Silva, San Francisco, CA (US); Abishek Krishna Akella, Pleasanton, CA (US); Jefferson Bradfield Packer, San Francisco, CA (US); Rick Zhang, San Mateo, CA (US); and Marin Kobilarov, Mountain View, CA (US)
Assigned to ZOOX, INC., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Feb. 26, 2021, as Appl. No. 17/187,226.
Application 17/187,226 is a continuation of application No. 16/832,940, filed on Mar. 27, 2020, granted, now 10,937,320.
Application 16/832,940 is a continuation of application No. 15/982,694, filed on May 17, 2018, granted, now 10,614,717, issued on Apr. 7, 2020.
Prior Publication US 2021/0256850 A1, Aug. 19, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G08G 1/16 (2006.01); G08G 1/01 (2006.01)
CPC G08G 1/166 (2013.01) [G08G 1/0112 (2013.01); G08G 1/167 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
detecting, based at least in part on sensor data acquired from a sensor associated with a vehicle, an object in an environment of the vehicle;
determining, based at least in part on an attribute of the object, a first width from a first point on a reference path along which the vehicle is to travel and a depth extending from the first width in a direction of travel of the object to a length determined based at least in part on a speed of the object;
determining a second width from a second point on the reference path;
determining, based at least in part on the first width, the depth, and the second width, a drive envelope comprising a portion of a surface on which the vehicle is to travel; and
controlling the vehicle to travel within the drive envelope,
wherein the first width spans an entire width that the vehicle is capable of operating, and
wherein the depth is associated with a third width that is different from at least one of the first width or the second width.