Patent ID: 11887474
Assignee: WAYMO LLC
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A method of controlling a vehicle in an autonomous driving mode, the method comprising:
maneuvering, by one or more processors, a vehicle in the autonomous driving mode using pre-stored map information identifying traffic lanes;
receiving, by the one or more processors, data from a perception system of the vehicle identifying objects in an external environment of the vehicle related to a traffic redirection at a given location different from the traffic lanes of the pre-stored map information;
using, by the one or more processors, the received data to identify two or more corridors of the traffic redirection;
determining, by the one or more processors, a traffic flow direction of a first corridor of the two or more corridors;
rejecting, by the one or more processors, the first corridor of the two or more corridors based at least in part on the traffic flow direction of the first corridor;
selecting, by the one or more processors, a second corridor of the two or more corridors; and
controlling, by the one or more processors, the vehicle in the autonomous driving mode to enter and follow the second corridor of the two or more corridors.