Patent ID: 11859989
Assignee: WAYMO LLC
Field: Transport (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 0:
1. A method, comprising:
receiving, by one or more processors of a computing system, sensor data, obtained by a perception system of a vehicle, of an external environment of the vehicle, the vehicle configured to operate in an autonomous driving mode, the external environment including a roadway;
obtaining, by the one or more processors based on the received sensor data, a clearance offset to a side of the roadway;
applying, by the one or more processors, a field of view restriction to the clearance offset to obtain a final offset, the field of view restriction corresponding to one or more occluded areas along the side of the roadway with respect to the perception system;
calculating, by the one or more processors, a cost for each pullover location of a set of possible pullover locations based on the final offset;
comparing, by the one or more processors, the cost for each pullover location against a baseline set of costs that does not take into account the field of view restriction;
selecting, by the one or more processors based on the comparison, a pullover location along the roadway; and
causing the vehicle to perform a pullover maneuver in the autonomous driving mode according to the selected pullover location.