US 12,479,424 B2
Collision prediction and avoidance for vehicles
Jefferson Bradfield Packer, San Francisco, CA (US); William Anthony Silva, San Francisco, CA (US); and Zhenqi Huang, San Carlos, CA (US)
Assigned to Zoox, Inc., Foster City, CA (US)
Filed by Zoox, Inc., Foster City, CA (US)
Filed on Nov. 9, 2023, as Appl. No. 18/388,525.
Application 18/388,525 is a continuation of application No. 17/314,971, filed on May 7, 2021, granted, now 11,851,050.
Application 17/314,971 is a continuation of application No. 16/136,038, filed on Sep. 19, 2018, granted, now 11,001,256, issued on May 11, 2021.
Prior Publication US 2024/0149868 A1, May 9, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); G05D 1/00 (2024.01); G08G 1/16 (2006.01)
CPC B60W 30/09 (2013.01) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); G05D 1/0088 (2013.01); G08G 1/166 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
one or more of receiving or determining a probability density function associated with one or more of a vehicle in an environment or an object in the environment;
determining a region of the environment that is predicted to be occupied by both the vehicle and the object;
determining a likelihood of collision between the vehicle and the object based at least in part on an overlap between the probability density function and the region; and
controlling the vehicle based at least in part on the likelihood of collision.