# US 11,908,318 B2 · Intelligent right of way determination 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 11,908,318 B2 - Document ID: US11908318B2 - Status: Granted - Kind: B2 - Application number: 17/750,611 - Filed: 2022-05-23 - Published: 2022-09-08 - Granted: 2024-02-20 - Earliest claimed: 2018-12-13 - Assignees: GM Cruise Holdings LLC - Applicants: GM Cruise Holdings LLC - Inventors: Kyle John Morris - Web page: https://patentgrep.com/patent/US11908318B2 ## CPC - G08G 1/0145: {for active traffic flow control} - G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)} - G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)} - G05D 1/228: Command input arrangements located on-board unmanned vehicles - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G07C 5/008: {communicating information to a remotely located station (transmission systems for measured values G08C)} - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/096725: {where the received information generates an automatic action on the vehicle control} - 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}) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE ## Abstract Various technologies described herein pertain to generating a bid for turn priority at an intersection. An autonomous vehicle determines that the autonomous vehicle and a second autonomous vehicle are proximate to an intersection. The autonomous vehicle generates a first bid that is indicative of a first importance that the autonomous vehicle traverses the intersection. The first bid is based upon characteristics of a trip of a passenger riding in the autonomous vehicle. The autonomous vehicle transmits the first bid to a networked computing system, wherein the networked computing system determines a turn order based upon the first bid and a second bid generated by the second autonomous vehicle. The networked computing system transmits the turn order to the autonomous vehicle, wherein the autonomous vehicle operates based upon the turn order. ## Claims ### Claim 1 An autonomous vehicle, comprising: sensor systems that generate sensor signals, wherein the sensor signals are indicative of a driving environment of the autonomous vehicle, wherein the driving environment includes an intersection; and a computing system that is in communication with the sensor systems, wherein the computing system comprises: a processor; and memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising: detecting one or more differing vehicles proximate to the intersection based on the sensor signals when the autonomous vehicle is proximate to the intersection; when the one or more differing vehicles comprises at least one non-autonomous vehicle detected as being proximate to the intersection, traversing the intersection based on a first turn order for the autonomous vehicle and the one or more differing vehicles, the first turn order being a function of times at which the autonomous vehicle and the one or more differing vehicles respectively arrive at the intersection; and when the one or more differing vehicles comprises at least a second autonomous vehicle detected as being proximate to the intersection and lacks a non-autonomous vehicle: generating a first bid indicative of a first importance that the autonomous vehicle traverses the intersection, wherein the first bid is based on a characteristic of a trip of a passenger riding in the autonomous vehicle; receiving a second bid from the second autonomous vehicle, wherein the second bid is generated by the second autonomous vehicle, and wherein the second bid is indicative of a second importance that the second autonomous vehicle traverses the intersection; determining a second turn order for the autonomous vehicle and the one or more differing vehicles based on at least the first bid and the second bid; and traversing the intersection based on the second turn order. ### Claim 2 (depends on 1) The autonomous vehicle of claim 1, the acts further comprising: transmitting the first bid to the second autonomous vehicle when the one or more differing vehicles comprises at least the second autonomous vehicle detected as being proximate to the intersection and lacks the non-autonomous vehicle. ### Claim 3 (depends on 1) The autonomous vehicle of claim 1, the acts further comprising: detecting an occluded area in the driving environment proximate to the intersection that is occluded from a perspective of the autonomous vehicle; responsive to detecting the occluded area, transmitting a request for disparate sensor signals corresponding to the occluded area; receiving the disparate sensor signals from a disparate autonomous vehicle, wherein the disparate sensor signals correspond to the occluded area; and detecting the one or more differing vehicles proximate to the intersection further based on the disparate sensor signals corresponding to the occluded area received from the disparate autonomous vehicle. ### Claim 4 (depends on 3) The autonomous vehicle of claim 3, wherein detecting the one or more differing vehicles proximate to the intersection further comprises detecting whether the one or more differing vehicles comprises at least one non-autonomous vehicle. ### Claim 5 (depends on 1) The autonomous vehicle of claim 1, wherein the characteristic of the trip of the passenger riding in the autonomous vehicle includes at least one of: an intended path creating a shortest distance of the trip, a priority of the autonomous vehicle, a priority of the passenger, an amount of idle time of the autonomous vehicle at the intersection, ride quality experienced by the passenger, a total time of the trip of the passenger, an expected arrival time of the autonomous vehicle at a destination, previous approval ratings of an autonomous vehicle service responsible for the autonomous vehicle, fuel consumption of the autonomous vehicle, energy consumption of the autonomous vehicle, remaining distance left for the autonomous vehicle to travel on the trip, time remaining in the trip, or a type of the trip. ### Claim 6 (depends on 5) The autonomous vehicle of claim 5, wherein characteristics of the trip are assigned respective weights, wherein the computing system generates a score that is indicative of the first importance that the autonomous vehicle traverses the intersection based on the characteristics as weighted. ### Claim 7 (depends on 1) The autonomous vehicle of claim 1, wherein determining the second turn order for the autonomous vehicle and the one or more differing vehicles further comprises determining that a first future path of the autonomous vehicle and a second future path of the second autonomous vehicle are non-intersecting, wherein the second turn order indicates that the autonomous vehicle and the second autonomous vehicle are to concurrently traverse the intersection. ### Claim 8 (depends on 1) The autonomous vehicle of claim 1, the acts further comprising: directly communicating with the second autonomous vehicle prior to traversing the intersection based on the second turn order. ### Claim 9 (depends on 1) The autonomous vehicle of claim 1, wherein the first importance is determined to be less than the second importance, wherein the second turn order indicates that the autonomous vehicle is to traverse the intersection subsequent to the second autonomous vehicle traversing the intersection, wherein traversing the intersection based on the second turn order comprises causing the autonomous vehicle to traverse the intersection subsequent to the second autonomous vehicle traversing the intersection. ### Claim 10 (depends on 1) The autonomous vehicle of claim 1, wherein the first importance is determined to be greater than the second importance, wherein the second turn order indicates that the autonomous vehicle is to traverse the intersection prior to the second autonomous vehicle traversing the intersection, wherein traversing the intersection based on the second turn order comprises causing the autonomous vehicle to traverse the intersection prior to the second autonomous vehicle traversing the intersection. ### Claim 11 (depends on 1) The autonomous vehicle of claim 1, wherein the autonomous vehicle belongs to a first autonomous vehicle fleet that is maintained by a first autonomous vehicle service, wherein the second autonomous vehicle belongs to a second autonomous vehicle fleet that is maintained by a second autonomous vehicle service. ### Claim 12 (depends on 1) The autonomous vehicle of claim 1, wherein the autonomous vehicle arrives at the intersection subsequent to the second autonomous vehicle arriving at the intersection, wherein the first importance is determined to be greater than the second importance, wherein the second turn order indicates that the autonomous vehicle is to traverse the intersection prior to the second autonomous vehicle traversing the intersection. ### Claim 13 (depends on 1) The autonomous vehicle of claim 1, wherein the autonomous vehicle is inhibited from transmitting the first bid when the one or more differing vehicles comprises at least one non-autonomous vehicle. ### Claim 14 A method performed by an autonomous vehicle, comprising: detecting one or more differing vehicles proximate to an intersection in a driving environment based on sensor signals generated by sensor systems of the autonomous vehicle when the autonomous vehicle is proximate to the intersection; when the one or more differing vehicles comprises at least one non-autonomous vehicle detected as being proximate to the intersection, traversing the intersection based on a first turn order for the autonomous vehicle and the one or more differing vehicles, the first turn order being a function of times at which the autonomous vehicle and the one or more differing vehicles respectively arrive at the intersection; and when the one or more differing vehicles comprises at least a second autonomous vehicle detected as being proximate to the intersection and lacks a non-autonomous vehicle: generating a first bid indicative of a first importance that the autonomous vehicle traverses the intersection, wherein the first bid is based on a characteristic of a trip of a passenger riding in the autonomous vehicle; receiving a second bid from the second autonomous vehicle, wherein the second bid is generated by the second autonomous vehicle, and wherein the second bid is indicative of a second importance that the second autonomous vehicle traverses the intersection; determining a second turn order for the autonomous vehicle and the one or more differing vehicles based on at least the first bid and the second bid; and traversing the intersection based on the second turn order. ### Claim 15 (depends on 14) The method of claim 14, further comprising: transmitting the first bid to the second autonomous vehicle when the one or more differing vehicles comprises at least the second autonomous vehicle detected as being proximate to the intersection and lacks the non-autonomous vehicle. ### Claim 16 (depends on 14) The method of claim 14, further comprising: inhibiting transmission of the first bid when the one or more differing vehicles comprises at least one non-autonomous vehicle. ### Claim 17 (depends on 14) The method of claim 14, further comprising: detecting an occluded area in the driving environment proximate to the intersection that is occluded from a perspective of the autonomous vehicle; responsive to detecting the occluded area, transmitting a request for disparate sensor signals corresponding to the occluded area; receiving the disparate sensor signals from a disparate autonomous vehicle, wherein the disparate sensor signals correspond to the occluded area; and detecting the one or more differing vehicles proximate to the intersection further based on the disparate sensor signals corresponding to the occluded area received from the disparate autonomous vehicle. ### Claim 18 (depends on 14) The method of claim 14, wherein the characteristic of the trip of the passenger riding in the autonomous vehicle includes at least one of: an intended path creating a shortest distance of the trip, a priority of the autonomous vehicle, a priority of the passenger, an amount of idle time of the autonomous vehicle at the intersection, ride quality experienced by the passenger, a total time of the trip of the passenger, an expected arrival time of the autonomous vehicle at a destination, previous approval ratings of an autonomous vehicle service responsible for the autonomous vehicle, fuel consumption of the autonomous vehicle, energy consumption of the autonomous vehicle, remaining distance left for the autonomous vehicle to travel on the trip, time remaining in the trip, or a type of the trip. ### Claim 19 An autonomous vehicle, comprising: sensor systems that generate sensor signals, wherein the sensor signals are indicative of a driving environment of the autonomous vehicle, wherein the driving environment includes an intersection; and a computing system that is in communication with the sensor systems, wherein the computing system comprises: a processor; and memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising: detecting one or more differing vehicles proximate to the intersection based on the sensor signals when the autonomous vehicle is proximate to the intersection; when the one or more differing vehicles comprises at least one non-autonomous vehicle detected as being proximate to the intersection, traversing the intersection based on a first turn order for the autonomous vehicle and the one or more differing vehicles, the first turn order being a function of times at which the autonomous vehicle and the one or more differing vehicles respectively arrive at the intersection; and when the one or more differing vehicles comprises at least a second autonomous vehicle detected as being proximate to the intersection and lacks a non-autonomous vehicle: generating a first bid indicative of a first importance that the autonomous vehicle traverses the intersection, wherein the first bid is based on a characteristic of a trip of a passenger riding in the autonomous vehicle; and transmitting the first bid to the second autonomous vehicle, wherein the second autonomous vehicle determines a second turn order for the autonomous vehicle and the one or more differing vehicles based on at least the first bid and a second bid, wherein the second bid is generated by the second autonomous vehicle, and wherein the second bid is indicative of a second importance that the second autonomous vehicle traverses the intersection, and wherein the autonomous vehicle is inhibited from transmitting the first bid when the one or more differing vehicles comprises at least one non-autonomous vehicle. ### Claim 20 (depends on 19) The autonomous vehicle of claim 19, the acts further comprising: when the one or more differing vehicles comprises at least the second autonomous vehicle detected as being proximate to the intersection and lacks a non-autonomous vehicle: receiving the second bid from the second autonomous vehicle; determining the second turn order for the autonomous vehicle and the one or more differing vehicles based on at least the first bid and the second bid; and traversing the intersection based on the second turn order.