# US 10,766,486 B2 · Testing predictions for autonomous vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,766,486 B2 - Document ID: US10766486B2 - Status: Granted - Kind: B2 - Application number: 16/134,368 - Filed: 2018-11-30 - Published: 2019-03-14 - Granted: 2020-09-08 - Earliest claimed: 2016-07-06 - Assignees: Waymo LLC - Applicants: Waymo LLC - Inventors: Nathaniel Fairfield; Vadim Furman - Web page: https://patentgrep.com/patent/US10766486B2 ## CPC - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/18145: {Cornering} - B60W 30/18154: {Approaching an intersection} - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 50/0097: {Predicting future conditions} - B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles} - B60W 60/0017: {of other traffic participants} - B60W 60/00274: {considering possible movement changes} - G05D 1/0289: {with means for avoiding collisions between vehicles (vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93)} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60Q 1/346: {with automatic actuation} - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL ## Abstract Aspects of the disclosure relate to testing predictions of an autonomous vehicle relating to another vehicle or object in a roadway. For instance, one or more processors may plan to maneuver the autonomous vehicle to complete an action and predict that the other vehicle will take a responsive action. The autonomous vehicle is then maneuvered towards completing the action in a way that would allow the autonomous vehicle to cancel completing the action without causing a collision between the first vehicle and the second vehicle, and in order to indicate to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the action. Thereafter, when the first vehicle is determined to be able to take the action, the action is completed by controlling the first vehicle autonomously using the determination of whether the second vehicle begins to take the particular responsive action. ## Claims ### Claim 1 A method of controlling a first vehicle autonomously in order to complete a turn, the method comprising: maneuvering, by one or more processors, the first vehicle autonomously to complete a first portion of the turn in a way that would allow a second vehicle to pass by the first vehicle; determining, by the one or more processors, whether the second vehicle is taking a responsive action in response to the maneuvering; and after completing the first portion of the turn, maneuvering the first vehicle autonomously to complete a second portion of the turn, by the one or more processors, by controlling the first vehicle autonomously based on a result of the determining. ### Claim 2 (depends on 1) The method of claim 1, further comprising indicating to the second vehicle or a driver of the second vehicle that the first vehicle is attempting to complete the turn. ### Claim 3 (depends on 1) The method of claim 1, wherein the turn is completed by making a right turn from a first roadway to a second roadway across a path that the second vehicle travels on the second roadway. ### Claim 4 (depends on 1) The method of claim 1, wherein when the result indicates that the second vehicle is taking the responsive action, the controlling the first vehicle includes pulling in front of the second vehicle. ### Claim 5 (depends on 1) The method of claim 1, when the result indicates that the second vehicle is not taking the responsive action, the controlling the first vehicle includes waiting for the second vehicle to pass the first vehicle and pulling the first vehicle behind the second vehicle. ### Claim 6 (depends on 1) The method of claim 1, further comprising, before the maneuvering, predicting that the second vehicle will take the responsive action. ### Claim 7 (depends on 1) The method of claim 1, wherein the turn is completed by making a left turn from a first roadway to leave the first roadway and crossing a path that the second vehicle travels on the first roadway. ### Claim 8 (depends on 7) The method of claim 7, wherein the turn is completed by making a left turn into a parking lot or driveway. ### Claim 9 (depends on 7) The method of claim 7, wherein the turn is completed by making a left turn onto a second roadway at an intersection. ### Claim 10 (depends on 1) The method of claim 1, wherein the responsive action includes the second vehicle slowing down to a particular speed. ### Claim 11 (depends on 1) The method of claim 1, wherein the responsive action includes the second vehicle changing lanes. ### Claim 12 (depends on 1) The method of claim 1, further comprising: controlling, by the one or more processors, the first vehicle autonomously along a route; and prior to maneuvering the first vehicle to complete the turn, determining, by the one or more processors, that the first vehicle completes the turn to proceed along the route. ### Claim 13 (depends on 1) The method of claim 1, further comprising determining the first portion of the turn based on an accommodation protocol that limits an expected responsive action by the second vehicle. ### Claim 14 (depends on 13) The method of claim 13, wherein the accommodation protocol limits an amount of the expected responsive action. ### Claim 15 (depends on 13) The method of claim 13, wherein the accommodation protocol limits an expected amount of deceleration by the second vehicle for the expected responsive action. ### Claim 16 (depends on 13) The method of claim 13, wherein the accommodation protocol limits an expected amount of acceleration by the second vehicle for the expected responsive action. ### Claim 17 (depends on 13) The method of claim 13, wherein the accommodation protocol limits a type of the expected responsive action. ### Claim 18 (depends on 13) The method of claim 13, wherein the accommodation protocol prohibits the first portion of the turn from causing the second vehicle to change lanes. ### Claim 19 (depends on 13) The method of claim 13, wherein the accommodation protocol prohibits the first portion of the turn from causing the second vehicle to drive in a shoulder. ### Claim 20 (depends on 13) The method of claim 13, wherein the accommodation protocol prohibits the first portion of the turn from causing the second vehicle to make an illegal maneuver.