# US 12,181,886 B2 · Controlling vehicles through multi-lane turns

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- Number: US 12,181,886 B2
- Document ID: US12181886B2
- Status: Granted
- Kind: B2
- Application number: 17/336,938
- Filed: 2021-06-02
- Published: 2021-11-04
- Granted: 2024-12-31
- Earliest claimed: 2018-10-19
- Assignees: Waymo LLC
- Applicants: Waymo LLC
- Inventors: Jared Stephen Russell; Jens-Steffen Ralf Gutmann; Pei Sun
- Web page: https://patentgrep.com/patent/US12181886B2

## CPC

- B60W 30/18159: {Traversing an intersection}
- G05D 1/0221: {involving a learning process}
- B60W 30/165: Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
- B60W 60/00: Drive control systems specially adapted for autonomous road vehicles
- B60W 60/0011: {involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles}
- G05D 1/0088: {characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00)}
- G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)}
- G05D 1/65: Following a desired speed profile
- B60W 30/18145: {Cornering}
- B60W 2400/00: Indexing codes relating to detected, measured or calculated conditions or factors
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2520/10: Longitudinal speed
- B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2555/60: Traffic rules, e.g. speed limits or right of way
- B60W 2556/10: Historical data
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- B60W 2720/24: Direction of travel
- G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)}
- G05D 2101/10: using artificial intelligence [AI] techniques
- 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

## Abstract

The technology relates controlling an autonomous vehicle through a multi-lane turn. In one example, data corresponding to a position of the autonomous vehicle in a lane of the multi-lane turn, a trajectory of the autonomous vehicle, and data corresponding to positions of objects in a vicinity of the autonomous vehicle may be received. A determination of whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane may be made based on a position of the autonomous vehicle in the lane relative to the positions of the objects. The trajectory of the autonomous vehicle through the lane may be adjusted based on whether the autonomous vehicle is positioned as a first vehicle in the lane or positioned behind another vehicle in the lane. The autonomous vehicle may be controlled based on the adjusted trajectory.

## Claims

### Claim 1

A method for controlling an autonomous vehicle through a multi-lane turn, the method comprising:
receiving, by one or more processors, data corresponding to a position of the autonomous vehicle relative to a position of each of a first vehicle and a second vehicle in a lane of the multi-lane turn and a trajectory of the autonomous vehicle;
determining, based on the position of the autonomous vehicle relative to the position of each of the first and second vehicles, that the autonomous vehicle is positioned in an inside lane of the multi-lane turn and the first and second vehicles are positioned in an adjacent lane from the inside lane;
determining, by the one or more processors, a distance between the autonomous vehicle and each of the first and second vehicles for the autonomous vehicle to be in a staggered position relative to the first and second vehicles such that the first vehicle being a forward surrounding vehicle and the second vehicle being a rear surrounding vehicle;
adjusting, by the one or more processors, the trajectory of the autonomous vehicle based on the distances to maintain the staggered position; and
controlling the autonomous vehicle through the multi-lane turn based on the adjusted trajectory.

### Claim 2 (depends on 1)

The method of claim 1, wherein the distance is maintained based on a fixed stop range.

### Claim 3 (depends on 2)

The method of claim 2, wherein, when the autonomous vehicle is within the fixed stop range of the second vehicle, the autonomous vehicle accelerates and increases its velocity until an appropriate distance between the second vehicle and the autonomous vehicle is reached.

### Claim 4 (depends on 2)

The method of claim 2, wherein, the autonomous vehicle is within the fixed stop range of the first vehicle, the autonomous vehicle decelerates and decrease its velocity until an appropriate distance between the first vehicle and the autonomous vehicle is reached.

### Claim 5 (depends on 1)

The method of claim 1, wherein velocity and acceleration of the autonomous vehicle are adjusted to maintain the staggered position of the autonomous vehicle relative to each of the first and second vehicles.

### Claim 6 (depends on 5)

The method of claim 5, wherein the velocity and acceleration of the autonomous vehicle are adjusted based on the distance between the autonomous vehicle and each of the first and second vehicles.

### Claim 7 (depends on 1)

The method of claim 1, wherein adjusting the trajectory of the autonomous vehicle occurs continuously through the multi-lane turn.

### Claim 8 (depends on 1)

The method of claim 1, wherein a trajectory of each of the first and second vehicles is tracked by imaging sensors on the autonomous vehicle.

### Claim 9 (depends on 1)

The method of claim 1, wherein adjusting the trajectory of the autonomous vehicle maintains the staggered position relative to each of the first and second vehicles as the autonomous vehicle traverses through the multi-lane turn.

### Claim 10

A system for controlling an autonomous vehicle through a multi-lane turn, the system comprising:
one or more processors, wherein the one or more processors are configured to:
receive data corresponding to a position of the autonomous vehicle relative to a position of each of a first vehicle and a second vehicle in a lane of the multi-lane turn and a trajectory of the autonomous vehicle;
determine, based on the position of the autonomous vehicle relative to the position of each of the first and second vehicles, that the autonomous vehicle is positioned in an inside lane of the multi-lane turn and the first and second vehicles are positioned in an adjacent lane from the inside lane;
determine a distance between the autonomous vehicle and each of the first and second vehicles for the autonomous vehicle to be in a staggered position relative to the first and second vehicles such that the first vehicle being a forward surrounding vehicle and the second vehicle being a rear surrounding vehicle;
adjust the trajectory of the autonomous vehicle based on the distances to maintain the staggered position; and
control the autonomous vehicle through the multi-lane turn based on the adjusted trajectory.

### Claim 11 (depends on 10)

The system of claim 10, wherein the distance is maintained based on a fixed stop range.

### Claim 12 (depends on 11)

The system of claim 11, wherein, when the autonomous vehicle is within the fixed stop range of the second vehicle, the autonomous vehicle accelerates and increases its velocity until an appropriate distance between the second vehicle and the autonomous vehicle is reached.

### Claim 13 (depends on 11)

The system of claim 11, wherein, when the autonomous vehicle is within the fixed stop range of the first vehicle, the autonomous vehicle decelerates and decrease its velocity until an appropriate distance between the first vehicle and the autonomous vehicle is reached.

### Claim 14 (depends on 10)

The system of claim 10, wherein velocity and acceleration of the autonomous vehicle are adjusted to maintain the staggered position of the autonomous vehicle relative to each of the first and second vehicles.

### Claim 15 (depends on 14)

The system of claim 14, wherein the velocity and acceleration of the autonomous vehicle are adjusted based on the distance between the autonomous vehicle and each of the first and second vehicles.

### Claim 16 (depends on 10)

The system of claim 10, wherein adjusting the trajectory of the autonomous vehicle occurs continuously through the multi-lane turn.

### Claim 17 (depends on 10)

The system of claim 10, wherein a trajectory of each of the first and second vehicles is tracked by imaging sensors on the autonomous vehicle.

### Claim 18 (depends on 10)

The system of claim 10, wherein adjusting the trajectory of the autonomous vehicle maintains the staggered position relative to each of the first and second vehicles as the autonomous vehicle traverses through the multi-lane turn.