This document discloses system, method, and computer program product embodiments for operating a vehicle. For example, the method includes: obtaining a vehicle trajectory for the vehicle and a possible object trajectory for a moving object; analyzing the vehicle trajectory and the possible object trajectory to identify a time interval in which a footprint of the vehicle overlaps laterally with a footprint of the object; generating a mover raw margin in the time interval by shifting the footprint of the vehicle laterally until contact is made with the footprint of the object; obtaining a crossing time associated with each point in the mover raw margin; and generating a mover strong boundary by laterally shifting point(s) of the mover raw margin in the direction towards the vehicle when the crossing time(s) associated with the point(s) is(are) equal to or less than a threshold time.


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    Title :

    Systems and methods for deweighting veering margins based on crossing time


    Contributors:

    Publication date :

    2025-05-20


    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



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