Autonomous Vehicle Turn Preparation in Wide Lanes
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Solution Overview
Problem
Autonomous vehicles face challenges in effectively signaling their intent to make a right turn, especially in wide lanes, which can lead to confusion and safety issues due to their tendency to stay centered in the lane rather than moving to the right, and traditional turn signals may not be sufficient.
Innovation Solution
The vehicle's computing devices analyze sensor data and map information to identify wide lanes and the intentions of other vehicles, then maneuver to safely signal the intent to turn right by positioning itself appropriately, combining lane changes with turn signal lighting to convey the intended action.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous vehicle stays centered in the lane following predetermined path, then the vehicle maintains stable lane positioning, but the vehicle fails to clearly signal its intent to make a right turn to other road users
Solution Approach 1:
The vehicle performs a preliminary lane change maneuver before the intersection to signal its turning intent. The computing device determines to change lanes based on map data identifying an intersection ahead, and executes the lane change in advance while maintaining speed, allowing other road users to understand the vehicle's intended right turn before reaching the intersection
2Loss of information
If the vehicle moves to the right in wide lanes before turning, then the vehicle clearly signals turning intent, but the vehicle may collide with other vehicles or objects in the lane
Solution Approach 1:
The system performs preliminary detection of the environment before executing the lane change maneuver. The computing device uses sensor data to identify objects and vehicles in the target lane, and only initiates the lane change when the path is determined to be safe, thus signaling intent while avoiding collisions
Solution Approach 2:
The computing device continuously monitors sensor data during the maneuver to detect objects in the target lane. Based on real-time feedback from sensors identifying vehicles or objects ahead, the system adjusts or cancels the lane change command to avoid collisions while maintaining the ability to signal intent when safe
3Reliability
If traditional turn signals are used without lane positioning changes, then the vehicle maintains stable lane position, but the turn signal may not be sufficient to convey turning intent in wide lanes
Solution Approach 1:
The system combines the lane change maneuver with the turn signal indication. When the computing device determines a right turn is intended based on map data and sensor input, it simultaneously executes a lane change to the right and activates the right turn signal, merging two signaling methods to clearly communicate turning intent while maintaining lane positioning stability through controlled execution
Data Source
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Figure 3A
AI summary
The technology relates to maneuvering a vehicle 100 prior to making a turn from a current lane 410 of the vehicle. As an example, a route that includes making the turn from the lane is identified. An area 270 of the lane prior to the turn having a lane width of at least a predetermined size is also identified. Sensor data identifying an object within the lane is received from a perception system 172 of a vehicle. Characteristics of the object, including a location of the object relative to the vehicle, are identified from the sensor data. The vehicle is then maneuvered through the area prior to making the turn using the identified characteristics.