{
  "$type": "site.standard.document",
  "description": "A computer-implemented method for controlling an autonomous vehicle is provided. The computer-implemented method includes identifying, using a gap planning module, based on a first set of perception data using a first time horizon, a gap an adjacent lane to a lane of travel of the autonomous…",
  "path": "/patents/1378517",
  "publishedAt": "2026-02-12T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/001",
    "Torc Robotics, Inc."
  ],
  "textContent": "A computer-implemented method for controlling an autonomous vehicle is provided. The computer-implemented method includes identifying, using a gap planning module, based on a first set of perception data using a first time horizon, a gap an adjacent lane to a lane of travel of the autonomous vehicle, the adjacent lane suitable for entry by the autonomous vehicle. The computer-implemented method further includes generating, using the gap planning module, one or more planning constraints based on the identified gap. The computer-implemented method further includes generating, using a path planning module, a path for the autonomous vehicle based on a second set of perception data, a second time horizon, and the one or more planning constraints. The computer-implemented method further includes controlling the autonomous vehicle based on the generated path.",
  "title": "SYSTEMS AND METHODS FOR REDUCING PLANNING HORIZONS FOR AN AUTONOMOUS VEHICLE WITH GAP CONSTRAINTS"
}