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

Claim 10:
11. An autonomous vehicle comprising:
one or more sensors configured to determine sensor data associated with an environment surrounding the autonomous vehicle;
a computing device programmed and/or configured to:
obtain 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;
determine, based on the sensor data and the map data, a change in the type of the traffic signal or sign in the environment surrounding the autonomous vehicle from the type of traffic signal or sign included in the map data;
in response to determining the change in the type of the traffic signal or sign in the environment surrounding the autonomous vehicle from the type of traffic signal or sign included in the map data, determine, 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;
process, with a machine learning model, the relative lane geometry and the changed 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
control, based on the prediction, at least one autonomous driving operation of the autonomous vehicle.