Second stop position for intersection turn
This disclosure describes various embodiments for determining a second stop position for an intersection turn by an autonomous vehicle. In an embodiment an autonomous control module is described. The autonomous control module may comprise a memory and a processor coupled to the memory. The processor may be configured to determine a first stop location at an intersection; cause a vehicle to stop at the first stop location; determine a turn path through the intersection; determine a second stop location along the turn path; cause the vehicle to advance to the second stop location; cause the vehicle to stop at the second stop location; and cause the vehicle to continue along the turn path.
1. An autonomous control module comprising:
a memory; and
a processor coupled to the memory, the processor configured to
determine a first stop location at an intersection;
cause a vehicle to stop at the first stop location;
determine a turn path through the intersection;
determine a lane boundary;
determine a crossing point based, at least in part, on where the turn path crosses the lane boundary;
determine a second stop location along the turn path a predetermined distance from the crossing point;
cause the vehicle to advance to the second stop location;
cause the vehicle to stop at the second stop location; and
cause the vehicle to continue along the turn path.
2. The autonomous control module of claim 1 , wherein the processor configured to determine the first stop location comprises the processor configured to determine the presence of a traffic control device indicating a stop indicator.
3. The autonomous control module of claim 1 , wherein the processor configured to cause the vehicle to continue along the turn path comprises the processor configured to:
determine an absence of oncoming traffic.
4. The autonomous control module of claim 2 , wherein the processor configured to cause the vehicle to continue along the turn path comprises the processor configured to:
determine a change in an indication of the traffic control device.
5. A vehicle comprising:
one or more sensors;
a wireless communication system; and
an autonomous control module coupled to the one or more sensors and the wireless communication system, the autonomous control module configured to:
determine a first stop location at an intersection;
cause the vehicle to stop at the first stop location;
determine a turn path through the intersection;
determine a lane boundary;
determine a crossing point based, at least in part, on where the turn path crosses the lane boundary;
determine a second stop location along the turn path a predetermined distance from the crossing point;
cause the vehicle to advance to the second stop location;
cause the vehicle to stop at the second stop location; and
cause the vehicle to continue along the turn path.
6. The vehicle of claim 5 , wherein the autonomous control module configured to determine the first stop location comprises the autonomous control module configured to determine the presence of a traffic control device indicating a stop indicator based upon data received from the one or more sensors.
7. The vehicle of claim 5 , wherein the autonomous control module configured to cause the vehicle to continue along the turn path comprises the autonomous control module configured to:
determine an absence of oncoming traffic based upon data received from the one or more sensors.
8. The vehicle of claim 6 , wherein the autonomous control module configured to cause the vehicle to continue along the turn path comprises the autonomous control module configured to:
determine a change in an indication of the traffic control device based upon data received from the one or more sensors.
9. A method for an autonomous intersection turn in an autonomous vehicle, the method comprising:
determining a first stop location at an intersection;
causing the autonomous vehicle to stop at the first stop location;
determining a turn path through the intersection;
determining a lane boundary;
determining a crossing point based, at least in part, on where the turn path crosses the lane boundary;
determining a second stop location along the turn path a predetermined distance from the crossing point;
causing the autonomous vehicle to advance to the second stop location;
causing the autonomous vehicle to stop at the second stop location; and
causing the autonomous vehicle to continue along the turn path.
10. The method of claim 9 , wherein determining the first stop location comprises determining the presence of a traffic control device indicating a stop indicator.
11. The method of claim 9 , wherein causing the vehicle to continue along the turn path comprises determining an absence of oncoming traffic.
12. The method of claim 10 , wherein causing the vehicle to continue along the turn path comprises determining a change in an indication of the traffic control device.