US 11,989,666 B1
Predicting trajectory intersection by another road user
Jens-Steffen Ralf Gutmann, Cupertino, CA (US); and Zhinan Xu, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Mar. 21, 2023, as Appl. No. 18/187,005.
Application 18/187,005 is a continuation of application No. 17/228,974, filed on Apr. 13, 2021, granted, now 11,636,362.
Application 17/228,974 is a continuation of application No. 15/418,981, filed on Jan. 30, 2017, granted, now 11,004,000, issued on May 11, 2021.
Int. Cl. G06N 5/04 (2023.01); G05D 1/00 (2006.01); G06N 20/00 (2019.01)
CPC G06N 5/04 (2013.01) [G05D 1/0088 (2013.01); G06N 20/00 (2019.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
determining, by one or more processors, a three-dimensional (3D) boundary of a trajectory through which an autonomous vehicle is expected to travel over a period of time;
determining, by the one or more processors, a shortest first distance between the 3D boundary and a bounding box representing an object when the object is located at a first location and a shortest second distance between the 3D boundary and the bounding box when the object is located at a second location;
determining, by the one or more processors, a shortest third distance between the 3D boundary and the bounding box when the object is located at a future location;
predicting, by the one or more processors, that the object is going to enter into the trajectory based on at least the shortest first distance, the shortest second distance, and the shortest third distance; and
controlling, by the one or more processors, the autonomous vehicle based on the predicting in order to avoid the object.