BACKGROUND

An autonomous vehicle can use various methods, apparatuses, and systems to guide the autonomous vehicle through an environment. For example, an autonomous vehicle can use planning methods, apparatuses, and systems to determine a drive path and guide the autonomous vehicle through the environment that contains dynamic objects (e.g., vehicles, pedestrians, animals, and the like) and static object (e.g., buildings, signage, stalled vehicles, and the like). In some instances, dynamic and/or static objects can act as obstacles that block or slow the autonomous vehicle as it traverses the environment.

