Patent ID: 11938967
Assignee: WAYMO LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 22:
23. A vehicle comprising:
a memory configured to store map information identifying an area of a lane of a roadway prior to an intersection that has a predetermined width between a first edge of the lane and a second edge of the lane;
a perception system; and
one or more processors configured to:
access the map information stored in the memory;
receive, from the perception system, sensor data identifying one or more objects proximate to the vehicle;
determine to which of the first edge or the second edge of the area of the lane prior to the intersection that the one or more objects is closer;
predict, from the sensor data, how the one or more objects will maneuver in the area of the lane prior to the intersection that is identified by the map information and whether the one or more objects will make a turn at the intersection from the lane based on the determining; and
maneuver, by the one or more processors, the vehicle in order to signal the vehicle's intent to make the turn at the intersection from the lane based on the predicting.