Speed reasoning in the presence of uncertainty when pulling over

A vehicle comprising:

• a control system including one or more processors and configured to:
• receive sensor data;
• obtain, based on the received sensor data, a clearance offset to a side of a roadway;
• apply a field of view restriction to the clearance offset to obtain a final offset, the field of view restriction corresponding to one or more occluded areas along a side of the roadway with respect to the vehicle;
• compare, for a set of possible pullover locations, one or more respective factors based on the final offset to one or more baseline factors;
• select, based on the comparison, a pullover location along the side of the roadway;
• and
• cause the vehicle to perform a pullover maneuver in an autonomous driving mode according to the selected pullover location.

A non-transitory, tangible, computer-readable medium on which instructions are stored, the instructions, when executed by one or more processors, cause the one or more processors to implement a method, the method comprising:

• obtaining a clearance offset to a side of a roadway based on sensor data;
• applying a field of view restriction to the clearance offset to obtain a final offset, the field of view restriction corresponding to one or more occluded areas along the side of the roadway with respect to a vehicle;
• comparing, for a set of possible pullover locations, one or more respective factors based on the final offset to one or more baseline factors;
• selecting, based on the comparison, a pullover location along the side of the roadway;
• and
• causing the vehicle to perform a pullover maneuver in an autonomous driving mode according to the selected pullover location.