| CPC B60W 60/0011 (2020.02) [B60W 10/18 (2013.01); B60W 30/181 (2013.01); B60W 40/04 (2013.01); B60W 60/0015 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02)] | 17 Claims |
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1. A method for indicated that an autonomous vehicle is yielding to a road user, the method comprising:
obtaining, using at least one processor, first sensor data associated with an environment of an autonomous vehicle;
generating, using the at least one processor, a plurality of trajectories based at least in part on the first sensor data;
selecting, using the at least one processor, a first trajectory from the plurality of trajectories;
causing navigation of the autonomous vehicle according to the first trajectory;
while operating the autonomous vehicle in an autonomous mode according to the first trajectory:
obtaining, using at least one processor, second sensor data associated with the environment;
identifying, using the second sensor data, a road user at a location within the environment;
determining, using the second sensor data, a type of the road user from a plurality of types of road users, wherein the type of road user is one of a pedestrian or cyclist;
based on the type of the road user, obtaining, using the at least one processor, a rule from a plurality of rules, wherein the rule corresponds to a target expressive operation for the autonomous vehicle in relation to the road user, the rule comprising a first criterion for initiation of application of the rule, and a second criterion for selecting an alternate trajectory from the plurality of trajectories;
determining, using the at least one processor, that the second sensor data satisfies the first criterion; and
in response to determining that the second sensor data satisfies the first criterion, applying the rule, wherein applying the rule comprises:
determining, using the at least one processor, that the first trajectory does not satisfy the second criterion based on a determination that the first trajectory is not configured to stop the autonomous vehicle a threshold distance before a safety margin of a crosswalk to indicate to the road user that the autonomous vehicle is yielding to the road user, wherein the safety margin of the crosswalk is located outside the crosswalk, and
selecting, using the at least one processor a second trajectory from the plurality of trajectories; and
causing navigation of the autonomous vehicle according to the second trajectory.
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