Preparing autonomous vehicles for turns

A method of maneuvering a vehicle prior to making a turn from a lane of a roadway, the method comprising:

• identifying, by one or more processors based on map information, an area of a lane prior to the turn that has a lane width of at least a predetermined size;
• receiving, by the one or more processors, from a perception system, sensor data identifying one or more objects proximate to the vehicle;
• predicting, by the one or more processors, from the sensor data, how the one or more objects will maneuver in the area of the lane and whether the one or more objects will make a turn;
• and
• maneuvering, by the one or more processors, the vehicle in order to signal the vehicle's intent to make a turn based on the predicting.