US 12,311,973 B2
Systems and methods for operating an autonomous vehicle
Scott Douglas Foster, San Diego, CA (US); Dishi Li, Menifee, CA (US); Hunter Scott Willoughby, San Diego, CA (US); and Yufei Zhao, San Diego, CA (US)
Assigned to TUSIMPLE, INC., San Diego, CA (US)
Filed by TuSimple, Inc., San Diego, CA (US)
Filed on Oct. 14, 2022, as Appl. No. 17/965,889.
Claims priority of provisional application 63/255,839, filed on Oct. 14, 2021.
Prior Publication US 2023/0123611 A1, Apr. 20, 2023
Int. Cl. B60W 60/00 (2020.01); B60W 30/18 (2012.01); B60W 40/02 (2006.01); B60W 50/00 (2006.01); B60W 50/14 (2020.01); G01S 17/08 (2006.01); G01S 17/58 (2006.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01); G06F 18/2413 (2023.01)
CPC B60W 60/0011 (2020.02) [B60W 30/18163 (2013.01); B60W 40/02 (2013.01); B60W 50/0097 (2013.01); B60W 50/14 (2013.01); B60W 60/0015 (2020.02); B60W 60/0027 (2020.02); B60W 60/00274 (2020.02); G01S 17/08 (2013.01); G01S 17/58 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); G06F 18/24137 (2023.01); B60W 2300/145 (2013.01); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2520/06 (2013.01); B60W 2520/10 (2013.01); B60W 2520/22 (2013.01); B60W 2530/10 (2013.01); B60W 2552/10 (2020.02); B60W 2552/30 (2020.02); B60W 2554/20 (2020.02); B60W 2554/4026 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/4046 (2020.02); B60W 2554/4049 (2020.02); B60W 2554/80 (2020.02); B60W 2556/40 (2020.02); B60W 2556/45 (2020.02); B60W 2556/65 (2020.02); B60W 2710/06 (2013.01); B60W 2754/20 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method of operating an autonomous vehicle, comprising:
detecting, by a controller disposed on the autonomous vehicle, that a motorcycle is operating on a roadway on which the autonomous vehicle is located;
classifying, by the controller, a behavior state of the motorcycle based on a location of the motorcycle relative to a split zone that extends between and into two adjacent lanes of the roadway, wherein the behavior state indicates whether the motorcycle is lane splitting;
determining, by the controller based on the behavior state of the motorcycle, a lane permission parameter for the autonomous vehicle that controls whether a given trajectory determined for the autonomous vehicle is permitted to extend into one of the two adjacent lanes; and
causing, by the controller, the autonomous vehicle to operate in accordance with a trajectory that satisfies the lane permission parameter based on transmitting instructions related to the trajectory to one or more subsystems of the autonomous vehicle,
wherein the lane permission parameter is determined further based on whether a jurisdiction in which the autonomous vehicle is located permits lane splitting of motorcycles.