| CPC B60W 60/0027 (2020.02) [B60W 60/0011 (2020.02); B60W 2554/4041 (2020.02)] | 20 Claims |
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1. A system comprising:
a first processing unit and a second processing unit; and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the first processing unit and the second processing unit to collectively perform operations comprising:
receiving a set of candidate actions for an autonomous vehicle;
determining, based at least in part on the set of candidate actions, a region of interest proximate the autonomous vehicle;
receiving prediction data comprising a set of predicted trajectories associated with a set of objects in an environment;
transmitting the prediction data to the second processing unit;
determining, by the second processing unit and based at least in part on the set of predicted trajectories, a linear array indicative of occupancy data associated with the set of objects, wherein a first element of the linear array is associated with first data identifying a first predicted state associated with a first position at a first time and second data identifying a second predicted state;
querying, at the second processing unit and based at least in part on a proposed portion of a trajectory, the linear array;
receiving, in response to querying the linear array, the occupancy data; and
controlling the autonomous vehicle based on the occupancy data.
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