公开(公告)号：US12296852B1

公开(公告)日：2025-05-13

申请号：US17739280

申请日：2022-05-09

Applicant: Waymo LLC

Inventor： Jakob Robert Zwiener ,  Mingshen Chen ,  Daniella Gutlansky

IPC: B60W60/00

Abstract: Aspects of the disclosure provide for selecting a pullover location for an autonomous vehicle. For instance, a set of potential pullover locations may be identified by, determining a plurality of rightmost points that the autonomous vehicle can reach, determining whether any of the rightmost points would result in the autonomous vehicle encroaching on a bicycle lane, and when any of the rightmost points encroaches on the bicycle lane, determining whether to adjust the location of that rightmost point. One of the set of potential pullover locations may be selected by assessing a cost of each potential pullover location of the set of potential pullover locations. The autonomous vehicle may be controlled to stop based on the selected one.