US 11,887,474 B2
Detecting and responding to traffic redirection for autonomous vehicles
David Harrison Silver, San Carlos, CA (US); and Pankaj Chaudhari, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jun. 9, 2020, as Appl. No. 16/896,845.
Application 16/896,845 is a continuation of application No. 15/798,881, filed on Oct. 31, 2017, granted, now 10,713,940.
Prior Publication US 2020/0365016 A1, Nov. 19, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. G08G 1/01 (2006.01); G05D 1/02 (2020.01); G05D 1/00 (2006.01); G06K 9/00 (2022.01); G06V 20/58 (2022.01); G06V 20/56 (2022.01)
CPC G08G 1/0145 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); G06T 2207/30236 (2013.01); G06T 2207/30256 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of controlling a vehicle in an autonomous driving mode, the method comprising:
maneuvering, by one or more processors, a vehicle in the autonomous driving mode using pre-stored map information identifying traffic lanes;
receiving, by the one or more processors, 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;
using, by the one or more processors, the received data to identify two or more corridors of the traffic redirection;
determining, by the one or more processors, a traffic flow direction of a first corridor of the two or more corridors;
rejecting, by the one or more processors, the first corridor of the two or more corridors based at least in part on the traffic flow direction of the first corridor;
selecting, by the one or more processors, a second corridor of the two or more corridors; and
controlling, by the one or more processors, the vehicle in the autonomous driving mode to enter and follow the second corridor of the two or more corridors.