US 12,269,473 B2
Navigating multi-way stop intersections with an autonomous vehicle
Scott Drew Pendleton, Singapore (SG)
Assigned to Motional AD LLC, Boston, MA (US)
Filed by Motional AD LLC, Boston, MA (US)
Filed on Oct. 23, 2023, as Appl. No. 18/492,549.
Application 18/492,549 is a continuation of application No. 17/061,438, filed on Oct. 1, 2020, granted, now 11,834,045.
Claims priority of provisional application 62/912,417, filed on Oct. 8, 2019.
Prior Publication US 2024/0051539 A1, Feb. 15, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 30/18 (2012.01); B60W 60/00 (2020.01)
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)] 20 Claims
OG exemplary drawing
 
1. An autonomous vehicle, comprising:
one or more sensors configured to generate data indicative of an environment of the autonomous vehicle;
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, cause performance of operations comprising:
determining that the autonomous vehicle is at a primary stopline of a multi-way stop intersection based on the data generated by the one or more sensors;
detecting one or more other vehicles at one or more tertiary stoplines of the multi-way stop intersection based on the data generated by the one or more sensors; and
in accordance with a determination that the autonomous 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 autonomous vehicle to proceed past the primary stopline and stop at a secondary stopline before entering the multi-way stop intersection.