Lane biasing for navigating machines

Abstract

In various examples, lane biasing for navigating around objects in autonomous systems and applications is described. Systems and methods are disclosed that generate lane (or other demarcated regions of an environment) geometries in environments—such as environments without clear lane or boundary demarcations—by using locations and poses of static objects and/or outputs of a drivable free-space analysis. The systems and methods then use the lane geometries, the locations of the static objects, and current paths (e.g., centerlines of the current paths) along the lanes to determine new paths for navigating around the static objects. For instance, the new paths may be determined by shifting the centerlines of the current paths in directions away from the static objects by some distance or safety margin. This way, the vehicles may navigate around the static objects with greater distances between the vehicles and the static objects for increased safety.