US 12,434,738 B2
Method for identification of emergency vehicle road closures
Zachary Wright Garcia, San Francisco, CA (US); Changkai Zhou, Mountain View, CA (US); Kevin Yuwen Tong, Carlsbad, CA (US); and Nestor Grace, San Francisco, CA (US)
Assigned to GM CRUISE HOLDINGS LLC, San Francisco, CA (US)
Filed by GM Cruise Holdings LLC, San Francisco, CA (US)
Filed on Mar. 1, 2023, as Appl. No. 18/176,923.
Prior Publication US 2024/0294186 A1, Sep. 5, 2024
Int. Cl. B60W 60/00 (2020.01); B60W 40/04 (2006.01)
CPC B60W 60/0011 (2020.02) [B60W 40/04 (2013.01); B60W 60/0015 (2020.02); B60W 2554/4041 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising using a processor system to perform processor system operations comprising:
receiving in real time sensor data from a sensor system of an autonomous vehicle (AV);
wherein the sensor data is received at volumes and in a variety that enable the AV to self-navigate through a dynamic environment without a human driver, the dynamic environment comprising the AV and a plurality of objects;
using the sensor data to self-navigate the AV along a travel route comprising a roadway in the dynamic environment;
receiving road data, by the AV, wherein the road data comprises portions of the sensor data that correspond with at least one emergency vehicle in the dynamic environment, the at least one emergency vehicle having a pose;
identifying, based at least in part on the portions of the sensor data, that the plurality of objects includes the at least one emergency vehicle;
determining the pose of the at least one emergency vehicle in relation to at least one of the roadway and the AV;
determining if all traffic lanes of the roadway are closed based on the pose of the at least one emergency vehicle in relation to the at least one of the roadway and the AV; and
responsive to a result of the determining if all of the traffic lanes of the roadway are closed, determining whether to adjust the travel route to avoid the roadway.