US 11,749,000 B2
Stop location change detection
Romain Thibaux, Fremont, CA (US); David Harrison Silver, San Carlos, CA (US); and Congrui Hetang, Sunnyvale, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by WAYMO LLC, Mountain View, CA (US)
Filed on Dec. 22, 2020, as Appl. No. 17/131,232.
Prior Publication US 2022/0198199 A1, Jun. 23, 2022
Int. Cl. G06K 9/00 (2022.01); B60W 30/18 (2012.01); G06K 9/32 (2006.01); G06K 9/62 (2022.01); G06V 20/56 (2022.01); G06V 10/25 (2022.01); G06F 18/214 (2023.01); G06F 18/2413 (2023.01)
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
OG exemplary drawing
 
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.