Abstract: Systems and techniques for determining a buffer region for use in controlling a vehicle and avoiding collisions are disclosed herein. A predicted region of travel of a vehicle front bumper may be determined. The position of the front bumper may be determined at points along a center curve of the predicted region of travel and polygons may be determined for the positions. The polygons may be joined and modified using a convex shape-based algorithm to determine a convex polygonal buffer region that is used in collision detection.

Abstract: Techniques for determining a warped occupancy grid fit to a vehicle trajectory are discussed herein. In some examples, a portion of memory may be allocated to an occupancy grid. Further, a warped occupancy grid can be warped and associated with an environment that an autonomous vehicle is traversing according to a trajectory and/or throughway. A transformation maybe be determined between the warped occupancy grid and the memory allocated to the occupancy grid. Sensor data can be received from a sensor associated with the autonomous vehicle and may be associated with the warped occupancy grid and stored in the occupancy grid. The autonomous vehicle may be controlled according to the warped occupancy grid by identifying sensor data returns in cells of the warped occupancy grid that may indicate a detection of an object in a path of travel of the vehicle.