| CPC B60W 60/0016 (2020.02) [B60W 2554/20 (2020.02); B60W 2554/40 (2020.02)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving sensor data from a sensor associated with a vehicle;
determining, based at least in part on the sensor data, that a first object in an environment is stationary;
determining, based at least in part on the first object, a drivable area for the vehicle to traverse;
determining a longitudinal distance between a first point associated with the first object and a second point associated with a second object along a direction of travel associated with the drivable area;
determining a lateral distance between the first point associated with the first object and the second point associated with the second object normal to the direction of travel;
determining a threshold distance between the first point associated with the first object and a threshold point;
determining that the longitudinal distance is less than or equal to the threshold distance;
determining, based at least in part on the longitudinal distance being less than or equal to the threshold distance, an aggregated distance metric comprising the lateral distance, a width of the second object, and a buffer distance; and
controlling the vehicle based at least in part on the aggregated distance metric.
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