| CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G08G 1/167 (2013.01)] | 20 Claims |
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1. An autonomous vehicle (AV) comprising:
a computing system;
a sensor system that is in communication with the computing system; and
a mechanical system that is operably coupled to the computing system, where the computing system is programmed to perform acts comprising:
controlling the mechanical system of the AV in connection with the AV navigating a route from a beginning location to a destination location, where the route includes a turn at an intersection from a first roadway to a second roadway, where the turn is across a lane of oncoming traffic in the first roadway;
as the AV approaches the intersection, identifying an occluded region based upon output of the sensor system, where the occluded region is a spatial region where the AV lacks visibility, and further where the occluded region includes a portion of the lane of oncoming traffic in the first roadway;
hypothesizing that a vehicle is travelling in the lane of oncoming traffic in the occluded region towards the AV;
inferring that the vehicle will decelerate upon the AV becoming visible to a driver of the vehicle; and
based upon the inferring that the vehicle will decelerate upon the AV becoming visible to the driver of the vehicle, controlling the mechanical system of the AV in connection with completing the turn from the first roadway to the second roadway despite the occluded region including the portion of the lane of oncoming traffic.
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