Controlling vehicles through multi-lane turns

A system comprising one or more processors configured to:

• receive data corresponding to a position of an autonomous vehicle relative to a position of each of a first vehicle and a second vehicle;
• adjust a trajectory of the autonomous vehicle through a multi-lane turn in order to maintain a staggered position relative to the first vehicle and the second vehicle as the autonomous vehicle traverses the multi-lane turn, wherein the staggered position increases visibility of the autonomous vehicle to one or more surrounding vehicles;
• and
• control the autonomous vehicle through the multi-lane turn based on the adjusted trajectory.

A non-transitory computer-readable medium storing instructions, which when executed by one or more processors of an autonomous vehicle, cause the autonomous vehicle 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;
• adjust a trajectory of the autonomous vehicle through a multi-lane turn in order to maintain a staggered position relative to the first vehicle and the second vehicle as the autonomous vehicle traverses the multi-lane turn, wherein the staggered position increases visibility of the autonomous vehicle to one or more surrounding vehicles;
• and
• control the autonomous vehicle through the multi-lane turn based on the adjusted trajectory.