Patent attributes
A vehicle computing system may implement techniques to determine relevance of objects detected in an environment to a vehicle operating in the environment (e.g., whether an object could potentially impact the vehicle's ability to safely travel). The techniques may include determining an initial location and trajectory associated with a detected object and determining whether the detected object may intersect a path polygon (e.g., planned path with a safety buffer) of the vehicle. A path intersection may include the detected object intersecting the path polygon or sharing a road segment with the vehicle at a substantially similar height as the vehicle (e.g., on a similar plane). Based on a determination that the detected object does not intersect the planned path of the vehicle, the vehicle computing system may determine that the detected object is irrelevant to the vehicle and may disregard the detected object in vehicle control planning considerations.
