Patent ID: 11904771
Assignee: GM CRUISE HOLDINGS LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 19:
20. An autonomous vehicle, comprising:
a mechanical system;
a lidar sensor system that generates a point cloud; and
a computing system in communication with the mechanical system and the lidar sensor system, the computing system comprises:
a processor; and
memory that stores computer-executable instructions that, when executed by the processor, cause the processor to perform acts comprising:
identifying points along a perimeter of a wheel of a vehicle nearby the autonomous vehicle from the point cloud generated by the lidar sensor system;
identifying a line between the points along the perimeter of the wheel that diametrically bisects the wheel of the vehicle nearby the autonomous vehicle, wherein the line is parallel to a surface that contacts the wheel at a base of the wheel;
detecting an angle between the line that diametrically bisects the wheel of the vehicle and a direction of travel of the vehicle;
detecting an imminent lane change by the vehicle into a lane in which the autonomous vehicle is traveling based on the angle; and
responsive to detection of the imminent lane change by the vehicle into the lane in which the autonomous vehicle is traveling, controlling the mechanical system of the autonomous vehicle to cause at least one of acceleration of the autonomous vehicle, deceleration of the autonomous vehicle, or a lane change of the autonomous vehicle.