| CPC B60W 30/09 (2013.01) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); G01C 21/3885 (2020.08); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2520/10 (2013.01); B60W 2554/404 (2020.02); B60W 2556/50 (2020.02)] | 19 Claims |
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1. A vehicle system comprising:
one or more sensors;
one or more processors; and
memory storing processor-executable instructions that, when executed by the one or more processors, configure the vehicle system to:
receive sensor data from the one or more sensors;
identify, at a first time, an object at a first location in an environment based at least in part on the sensor data;
determine, at the first time, a first speed associated with a vehicle operating in the environment;
determine, at a second time, a planned second speed associated with the vehicle operating in the environment;
generate a relevance polygon associated with a planned path of the vehicle through the environment, the relevance polygon having a first width determined based at least in part on the first speed and a second width determined based at least in part on the planned second speed;
determine that the first location of the object is outside a first boundary of the relevance polygon;
determine, based at least in part on determining that the first location of the object is outside the first boundary, that the object is irrelevant to the vehicle at the first time; and
control the vehicle based on exclusion of data associated with the object at the first time based at least in part on determining that the object is irrelevant to the vehicle.
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