| CPC G05D 1/0219 (2013.01) [G05D 1/0223 (2013.01); G06F 17/16 (2013.01); G06N 7/01 (2023.01)] | 15 Claims |
|
1. A method comprising:
identifying, using at least one processor, a first point associated with an uncertain location of an object in a space and a first uncertainty of the first point;
identifying, using the at least one processor, a polynomial curve associated with an uncertain location of a feature in the space and a second uncertainty of the polynomial curve;
determining, using the at least one processor, a probabilistic proximity of the object and the feature by:
identifying a second point on the polynomial curve, including identifying a location on the polynomial curve where a line between the first point and the location on the polynomial curve is a normal vector of the polynomial curve;
transforming the second uncertainty of the polynomial curve into a third uncertainty of the second point by transforming a covariance matrix of the polynomial curve into a covariance matrix of the second point using eigenvalues of the covariance matrix of the polynomial curve; and
identifying the probabilistic proximity of the object and the feature using the first and second points, the first uncertainty associated with the first point, and the third uncertainty associated with the second point;
identifying at least one action based on the probabilistic proximity; and
performing the at least one action,
wherein the at least one action is associated with a vehicle, and
wherein the at least one action comprises at least one of:
an adjustment to at least one of: a steering of the vehicle, a speed of the vehicle, an acceleration of the vehicle, and a braking of the vehicle; and
an activation of an audible, visible, or haptic warning.
|