A vehicle can traverse an environment along a first region and detect an obstacle impeding progress of the vehicle. The vehicle can determine a second region that is adjacent to the first region and associated with a direction of travel opposite the first region. A cost can be determined based on an action (e.g., an oncoming action) to utilize the second region to overtake the obstacle. By comparing the cost to a cost threshold and/or to a cost associated with another action (e.g., a “stay in lane” action), the vehicle can determine a target trajectory that traverses through the second region. The vehicle can traverse the environment based on the target trajectory to avoid, for example, the obstacle in the environment while maintaining a safe distance from the obstacle and/or other entities in the environment.


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    Title :

    OBSTACLE AVOIDANCE ACTION


    Contributors:

    Publication date :

    2021-05-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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