US 12,272,153 B2
In-path obstacle detection and avoidance system
Yuanyuan Chen, San Mateo, CA (US); Janek Hudecek, Redwood City, CA (US); David Pfeiffer, Foster City, CA (US); James William Vaisey Philbin, Palo Alto, CA (US); and Zeng Wang, Menlo Park, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Dec. 29, 2022, as Appl. No. 18/091,136.
Application 18/091,136 is a continuation of application No. 16/722,931, filed on Dec. 20, 2019, granted, now 11,544,936.
Prior Publication US 2023/0206650 A1, Jun. 29, 2023
Int. Cl. G06V 20/58 (2022.01); B60W 30/09 (2012.01); B60W 50/14 (2020.01)
CPC G06V 20/58 (2022.01) [B60W 30/09 (2013.01); B60W 50/14 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a sensor;
one or more processors; and
one or more non-transitory computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the vehicle to perform operations comprising:
causing the vehicle to traverse a planned path;
determining, based at least in part on sensor data received from the sensor, that a path of an object intersects the planned path;
determining a minimum distance of the object from a ground surface and a maximum height of the object from the ground surface;
determining, based on one or more of the minimum distance or the maximum height and the path of the object, a location and a component on the vehicle at which the object is likely to contact the vehicle; and
controlling operations of the vehicle based at least in part on determining that the object is likely to contact the vehicle at the location and the component on the vehicle.