Driveway maneuvers for autonomous vehicles

A method for maneuvering an autonomous vehicle to enter a driveway, comprising:

• receiving, by one or more processors, an instruction to pickup or drop off a passenger at a location;
• determining, by the one or more processors, that the vehicle is arriving in a lane on an opposite side of a street as the location, the lane having a traffic direction opposite to a traffic direction of a lane adjacent to the location;
• determining, by the one or more processors, a first convenience cost to the passenger for picking up or dropping off the passenger on the opposite side of the street as the location;
• determining, by the one or more processors, a second convenience cost to the passenger for picking up or dropping off the passenger on the same side of the street as the location;
• comparing, by the one or more processors, the first convenience cost to the second convenience cost;
• determining, by the one or more processors based on the comparison, to enter an available driveway on the same side of the street as the location;
• and
• controlling, by the one or more processors based on the determination to enter the available driveway, the vehicle to enter the available driveway.