US 11,851,050 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 May 7, 2021, as Appl. No. 17/314,971.
Application 17/314,971 is a continuation of application No. 16/136,038, filed on Sep. 19, 2018, granted, now 11,001,256.
Prior Publication US 2021/0261122 A1, Aug. 26, 2021
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); G05D 1/00 (2006.01); 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 system comprising:
one or more processors; and
one or more computer-readable media storing instructions executable by the one or more processors, wherein the instructions, when executed, cause the system to perform operations comprising:
receiving a first probability density function associated with a vehicle operating in an environment and a second probability density function associated with an object in the environment;
determining a region of the environment that is predicted to be contemporaneously occupied, during a time period, 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 first probability density function and the region and the second probability density function and the region; and
controlling the vehicle based at least in part on the likelihood of collision.