US 12,296,852 B1
Pullovers involving bicycle lanes for autonomous vehicles
Jakob Robert Zwiener, San Francisco, CA (US); Mingshen Chen, Stony Brook, NY (US); and Daniella Gutlansky, San Francisco, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on May 9, 2022, as Appl. No. 17/739,280.
Int. Cl. B60W 60/00 (2020.01)
CPC B60W 60/0017 (2020.02) [B60W 60/00184 (2020.02); B60W 2552/53 (2020.02); B60W 2554/4041 (2020.02)] 16 Claims
OG exemplary drawing
 
1. A method comprising:
identifying, by one or more processors, a set of potential pullover locations for an autonomous vehicle;
determining, for a potential pullover location of the set of potential pullover locations, by the one or more processors, a rightmost point at which the autonomous vehicle can stop;
determining, by the one or more processors, whether stopping the autonomous vehicle at the rightmost point results in the autonomous vehicle encroaching on a bicycle lane;
based at least on a determination that stopping the autonomous vehicle at the rightmost point results in the autonomous vehicle encroaching on the bicycle lane, determining whether to adjust a location of the rightmost point by determining a location of a lateral edge of the autonomous vehicle if the autonomous vehicle was stopped at the rightmost point and determining whether the location of the lateral edge of the autonomous vehicle is within a threshold distance of an edge of the bicycle lane;
based at least on a determination of whether to adjust the location of the rightmost point, selecting, by the one or more processors, one of the set of potential pullover locations; and
controlling, by the one or more processors, the autonomous vehicle to stop at the selected one.