{
  "$type": "site.standard.document",
  "description": "A trajectory for a vehicle can be generated using a lateral offset bias. The vehicle, such as an autonomous vehicle (AV), may be directed to follow reference trajectory for through an environment. The AV may determine a segment associated with the reference trajectory based on curvatures of the…",
  "path": "/patents/1305546",
  "publishedAt": "2021-12-02T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0223",
    "Zoox, Inc."
  ],
  "textContent": "A trajectory for a vehicle can be generated using a lateral offset bias. The vehicle, such as an autonomous vehicle (AV), may be directed to follow reference trajectory for through an environment. The AV may determine a segment associated with the reference trajectory based on curvatures of the reference trajectory, determine a lateral offset bias associated with the segment based at least in part on, for example, one or more of a speed or acceleration of the vehicle, and determine a candidate trajectory for the autonomous vehicle based at least in part on the lateral offset bias. The candidate trajectory may then be used to control the autonomous vehicle.",
  "title": "TRAJECTORY GENERATION USING LATERAL OFFSET BIASING"
}