| CPC B60W 60/0027 (2020.02) [B60W 50/00 (2013.01); B60W 2050/0028 (2013.01); B60W 2530/201 (2020.02); B60W 2552/30 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02)] | 20 Claims |
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1. A system comprising:
one or more processors; and
one or more non-transitory computer-readable media storing computer-executable instructions that, when executed, cause the system to perform operations comprising:
receiving a trajectory associated with an autonomous vehicle traversing an environment;
determining that at least a portion of the trajectory passed through a non-linear throughway;
determining an arc associated with a shape of the non-linear throughway;
determining that a degree of the arc satisfies a threshold degree;
determining, based at least in part on the degree of the arc satisfying the threshold degree, a transformation;
fitting a warped occupancy grid to the non-linear throughway, wherein the warped occupancy grid is based at least in part on the transformation and the warped occupancy grid includes non-polygonal cells corresponding to the non-linear throughway;
receiving lidar data from a sensor associated with the autonomous vehicle traversing the environment;
associating the lidar data with the warped occupancy grid;
storing, based on the transformation, the lidar data in the warped occupancy grid; and
controlling the autonomous vehicle based at least in part on the lidar data.
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