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 an object in an environment of the vehicle;
- determining, using the sensor data, by the one or more processors, that the object is behind the vehicle and the object is attempting to pass the vehicle within an area prior to an intersection;
- and
- maneuvering, by the one or more processors, the vehicle based on the determining.
A system comprising:
- a perception system;
- and
- one or more processors configured to:
- receive, from the perception system while a vehicle is operating in an autonomous driving mode, sensor data identifying an object in an environment of the vehicle;
- determine, using the sensor data, that the object is behind the vehicle and is likely to pass the vehicle within an area of a lane of a roadway prior to an intersection;
- and
- maneuver the vehicle based on the determining.
One or more computer readable media collectively storing instructions that, when executed by one or more processors of a vehicle, cause the one or more processors to perform operations comprising:
- receiving, from a perception system of the vehicle, sensor data identifying an object in an environment of the vehicle;
- determining, using the sensor data, that the object is behind the vehicle and the object is attempting to pass the vehicle within an area prior to an intersection;
- and
- maneuvering the vehicle based on the determining.
Dependencies are inferred from the claim text.