The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Nov. 25, 2025
Filed:
Jan. 27, 2023
GM Cruise Holdings Llc, San Francisco, CA (US);
Ujjwal Das Gupta, Alameda, CA (US);
Rostyslav Lesiv, San Francisco, CA (US);
Bradley Larkin Saund, San Carlos, CA (US);
Dmitry Panin, San Carlos, CA (US);
Samuel J Abrahams, Falls Church, VA (US);
GM CRUISE HOLDINGS LLC, San Francisco, CA (US);
Abstract
Systems and methods are provided herein for an AV to more efficiently, quickly, and accurately determine a likelihood of collision with another object, for example, by recursive triangulation. A candidate trajectory of the AV is then selected for controlling the AV based on the determined likelihood(s) of collision. According to one example, the likelihood of collision is determined by: 1) recursively triangulating a convex hull that defines all of the locations in which a collision would occur between the object and the AV (e.g., in a manner similar to the Sierpiński method), and 2) multiplying the area of each resulting triangular region by the value of a probability density that defines all of the locations in which a collision would occur between the object and the AV function in that region.