{
  "$type": "site.standard.document",
  "description": "A vehicle can traverse an environment along a first region and detect an obstacle impeding progress of the vehicle. The vehicle can determine a second region that is adjacent to the first region and associated with a direction of travel opposite the first region. A cost can be determined based on…",
  "path": "/patents/1289519",
  "publishedAt": "2021-05-06T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/09",
    "Zoox, Inc."
  ],
  "textContent": "A vehicle can traverse an environment along a first region and detect an obstacle impeding progress of the vehicle. The vehicle can determine a second region that is adjacent to the first region and associated with a direction of travel opposite the first region. A cost can be determined based on an action (e.g., an oncoming action) to utilize the second region to overtake the obstacle. By comparing the cost to a cost threshold and/or to a cost associated with another action (e.g., a “stay in lane” action), the vehicle can determine a target trajectory that traverses through the second region. The vehicle can traverse the environment based on the target trajectory to avoid, for example, the obstacle in the environment while maintaining a safe distance from the obstacle and/or other entities in the environment.",
  "title": "OBSTACLE AVOIDANCE ACTION"
}