Preparing autonomous vehicles for turns
AssigneeWaymo LLC
InventorsBenjamin Charrow, Nathaniel Fairfield
Life of this patent
Estimating the term…
Abstract
The technology relates to maneuvering a vehicle prior to making a turn from a current lane of the vehicle. As an example, a route that includes making the turn from the lane is identified. An area of the lane prior to the turn having a lane width of at least a predetermined size is also identified. Sensor data identifying an object within the lane is received from a perception system of a vehicle. Characteristics of the object, including a location of the object relative to the vehicle, are identified from the sensor data. The vehicle is then maneuvered through the area prior to making the turn using the identified characteristics.
Claims20
A method comprising:
- receiving, by one or more processors of a vehicle, from a perception system of the vehicle, sensor data identifying one or more objects proximate to the vehicle;
- determining, by the one or more processors, a position of the one or more objects within an area of a lane of a roadway prior to an intersection;
- and
- maneuvering, by the one or more processors, the vehicle in order to signal the vehicle's intent to make a turn at the intersection from the lane based on the determining.
A vehicle comprising:
- a perception system;
- and
- one or more processors configured to:
- receive, from the perception system, sensor data identifying one or more objects proximate to the vehicle;
- determine a position of the one or more objects within an area of a lane of a roadway prior to an intersection;
- and
- maneuver the vehicle in order to signal the vehicle's intent to make a turn at the intersection from the lane based on the determining.
Dependencies are inferred from the claim text.