AUTONOMOUS VEHICLE OPERATION WITHIN A CENTER TURN LANE

摘要

Operations of an autonomous vehicle while waiting to make a turn from a center turn lane are described. In response to determining that the detected object intends on turning through the center turn lane from a transverse direction, it can be determined whether an object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane. If the object turning path would impinge upon the autonomous vehicle, determining a driving maneuver for the autonomous vehicle that would move the autonomous vehicle to a new position within the center turn lane to allow the autonomous vehicle to make the turn according to an adjusted vehicle turning path while also allowing the detected object to turn through the center turn lane according to an adjusted object turning path without impinging upon the autonomous vehicle. The autonomous vehicle can be caused to implement the determined driving maneuver.

主权项

1. A method of operating an autonomous vehicle while waiting to make a turn from a center turn lane, the method comprising:
determining, using at least one of one or more sensors or map data, that the autonomous vehicle is located in a center turn lane; detecting an object in an external environment of the autonomous vehicle; determining whether the detected object intends on turning through the center turn lane from a transverse direction; responsive to determining that a detected object intends on turning through the center turn lane from a transverse direction, determining whether an object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane; responsive to determining that the object turning path for the detected object would impinge upon the autonomous vehicle in the center turn lane, determining a driving maneuver for the autonomous vehicle that would move the autonomous vehicle to a new position within the center turn lane that would allow the autonomous vehicle to make a turn according to an adjusted vehicle turning path while also allowing the detected object to turn through the center turn lane according to an adjusted object turning path without impinging upon the autonomous vehicle; and causing the autonomous vehicle to implement the determined driving maneuver.