Patent ID: 11965749
Assignee: ARGO AI, LLC
Field: Transport (Mechanical engineering)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A computer-implemented method comprising:
obtaining map data associated with a map of a geographic location including a roadway, wherein the roadway includes a plurality of lane segments, wherein the plurality of lane segments include a pair of lane segments that overlap each other in the roadway, wherein the pair of overlapping lane segments is associated with a traffic signal or sign, and wherein the map data is associated with a type of the traffic signal or sign;
determining, based on the map data, a relative lane geometry between a first lane segment and a second lane segment of the pair of overlapping lane segments;
processing, with a machine learning model, the relative lane geometry and the type of the traffic signal or sign to generate a prediction of whether the first lane segment yields to the second lane segment for a given state of the traffic signal or sign; and
using the prediction to control at least one autonomous driving operation of an autonomous vehicle,
wherein each of the first lane segment and the second lane segment of the pair of overlapping lane segments is associated with a start position and an end position in the map data, and wherein determining the relative lane geometry between the first lane segment and the second lane segment of the pair of overlapping lane segments includes:
determining a first relative angle between the start position of the first lane segment and the start position of the second lane segment of the pair of overlapping lane segments; and
determining a second relative angle between the start position of the first lane segment and the end position of the second lane segment of the pair of overlapping lane segments.