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

Claim 0:
1. A vehicle configured to operate in an autonomous driving mode, the vehicle comprising:
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;
a perception system including one or more sensors configured to detect an external object in an 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;
a control system including one or more processors, the control system operatively coupled to the driving system and the perception system, the control system being configured to:
receive sensor data from the perception system and obtained by the one or more sensors, the sensor data indicating a position or a location of the external object;
evaluate 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, cause the driving system to perform a first action; and
when the observed situation is evaluated to be the impermissible situation, cause the driving system to perform a second action different from the first action.