Patent ID: 11866001
Assignee: WAYMO LLC
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 17:
18. A method of operating a vehicle in an autonomous driving mode, wherein the autonomous vehicle comprises a driving system including a steering subsystem, an acceleration subsystem and a deceleration subsystem to control driving of the vehicle in the autonomous driving mode, the method comprising:
receiving, by a control system, sensor data from one or more sensors of a perception system of the vehicle, the sensor data indicating a position or a location of an external object in an external environment external to the vehicle, the external object including at least one of a person, another vehicle, or an object along a roadway upon which the vehicle is operating;
evaluating the position or the location of the external object to determine whether an observed situation in the environment external to the vehicle is a permissible situation or an impermissible situation;
when the observed situation is evaluated to be the permissible situation, causing the driving system of the vehicle to perform a first action; and
when the observed situation is evaluated to be the impermissible situation, causing the driving system of the vehicle to perform a second action different from the first action.