| CPC B60W 30/18159 (2020.02) [B60W 30/18154 (2013.01); B60W 60/00272 (2020.02); B60W 2552/53 (2020.02); B60W 2554/4044 (2020.02); B60W 2555/60 (2020.02); B60W 2720/106 (2013.01)] | 15 Claims |
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1. A system, comprising:
one or more computer processors; and
one or more non-transitory storage media storing instructions which, when executed by the one or more computer processors while a first vehicle is operating in an autonomous mode, cause performance of operations comprising:
detecting the first vehicle is at a primary stopline of a multi-way stop intersection;
obtaining a planned travel path through the multi-way stop intersection; and
in response to detecting that the first vehicle is at a primary stopline of a multi-way stop intersection:
detecting one or more other vehicles at one or more tertiary stoplines of the multi-way stop intersection; and
in accordance with i) a determination that the planned travel path of the first vehicle through the multi-way stop intersection satisfies a set of one or more clearance criteria, and ii) a determination that the first vehicle has a higher precedence than the one or more other vehicles at the one or more tertiary stoplines of the multi-way stop intersection, instructing the first vehicle to proceed past the primary stopline and stop at a secondary stopline before entering the multi-way stop intersection to indicate an intent of the first vehicle to proceed through the multi-way stop intersection, wherein the set of one or more clearance criteria include a criterion that is satisfied in response to detecting the first vehicle is clear to safely merge into a travel lane corresponding to the planned travel path.
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