US 12,077,190 B2
Efficient safety aware path selection and planning for autonomous machine applications
Julia Ng, San Jose, CA (US); David Nister, Bellevue, WA (US); Zhenyi Zhang, San Jose, CA (US); and Yizhou Wang, San Jose, CA (US)
Assigned to NVIDIA Corporation, Santa Clara, CA (US)
Filed by NVIDIA Corporation, Santa Clara, CA (US)
Filed on May 18, 2020, as Appl. No. 16/877,127.
Prior Publication US 2021/0354729 A1, Nov. 18, 2021
Int. Cl. B60W 60/00 (2020.01); B60W 30/095 (2012.01)
CPC B60W 60/00272 (2020.02) [B60W 30/0953 (2013.01); B60W 60/0011 (2020.02); B60W 60/0018 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/80 (2020.02)] 21 Claims
OG exemplary drawing
 
1. A method comprising:
generating, based at least on a first safety procedure that is associated with one or more first operations for controlling an ego-vehicle to avoid a collision, a first vehicle-occupied projection corresponding to a first boundary associated with the ego-vehicle in an environment if the ego-vehicle were to implement the first safety procedure at a first time instance along a proposed path and a second vehicle-occupied projection corresponding to a second boundary associated with the ego-vehicle in the environment if the ego-vehicle were to implement the first safety procedure at a second time instance along the proposed path;
generating, based at least on a second safety procedure that is associated with one or more second operations for controlling an actor to avoid a collision, a first actor-occupied projection corresponding to a third boundary associated with the actor in the environment if the actor were to implement a second safety procedure at the first time instance along an estimated path and a second actor-occupied projection corresponding to a fourth boundary associated with the actor in the environment if the actor were to implement the second safety procedure at the second time instance along the estimated path;
determining whether the first boundary intersects with the third boundary;
determining whether the second boundary intersects with the fourth boundary;
determining, based at least on whether the first boundary intersects with the third boundary and whether the second boundary intersects with the fourth boundary, a weight associated with the proposed path;
selecting, based at least on the weight, the proposed path for the ego-vehicle through the environment; and
causing, based at least on the proposed path, performance of one or more third operations associated with control of the ego-vehicle.