Patent ID: 11927445
Assignee: DEKA PRODUCTS LIMITED PARTNERSHIP
Field: Transport (Mechanical engineering)
Classification: CPC G  B | IPC B  G

Claim 6:
7. A method for navigating an autonomous vehicle through an intersection, the intersection being part of a travel path, the method comprising:
determining an intersection type; and
commanding the autonomous vehicle based at least on the intersection type wherein the intersection type comprises a signed intersection;
commanding the autonomous vehicle to traverse the intersection if the autonomous vehicle has a right of way at the intersection;
slowing the autonomous vehicle from a point of no return to a stop line if the point of no return is in the travel path;
receiving information about obstacles in the intersection;
waiting a first amount of time;
computing at least one weighting factor at a first time;
modifying the first time based on when none of the obstacles were in the intersection;
modifying the at least one weighting factor at the modified first time based at least on the at least one weighting factor at a second time, the second time occurring before the modified first time;
computing an intersection decision threshold based at least on the at least one weighting factor; and
commanding the autonomous vehicle to perform an action with respect to the intersection, the action based at least on the intersection decision threshold.