CPC G06V 20/588 (2022.01) [B60W 30/181 (2013.01); B60W 30/18154 (2013.01); G06F 18/214 (2023.01); G06F 18/24147 (2023.01); G06V 10/25 (2022.01); B60W 2420/42 (2013.01)] | 10 Claims |
1. A method of controlling a vehicle operating in an autonomous driving mode, the method comprising:
receiving, by one or more sensors of a perception system of the vehicle, sensor data associated with objects in an external environment of the vehicle;
determining, by one or more processors of the vehicle, whether the vehicle is within a threshold distance of a lane endpoint along a portion of a roadway;
performing, by the one or more processors upon determining that the vehicle is within the threshold distance of the lane endpoint, stop location detection, wherein performing the stop location detection includes:
mapping a set of stop line points closest to an expected stop line;
discarding any of the set of stop line points not located within a region of interest associated with the lane endpoint; and
projecting any remaining stop line points of the set onto a lane tangent to identify a mapped stopping location; and
causing, by the one or more processors, the vehicle to stop along the roadway according to the mapped stopping location.
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