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

Claim 10:
11. A system for controlling a vehicle in an autonomous driving mode, the system comprising one or more processors configured to:
maneuver a vehicle in the autonomous driving mode using pre-stored map information identifying traffic lanes;
receive 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 at the given location;
use the received data to identify two or more corridors of the traffic redirection;
determine a traffic flow direction of a first corridor of the two or more corridors;
reject the first corridor of the two or more corridors based at least in part on the traffic flow direction of the first corridor;
select a second corridor of the two or more corridors; and
control the vehicle in the autonomous driving mode to enter and follow the second corridor of the two or more corridors.