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Methods and systems to aid autonomous vehicles driving through a lane merge

  • US 9,026,300 B2
  • Filed: 11/06/2012
  • Issued: 05/05/2015
  • Est. Priority Date: 11/06/2012
  • Status: Active Grant
First Claim
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1. A method comprising:

  • obtaining, by a computer system, lane information that provides an estimated location of a current lane of a road on which a vehicle is travelling, wherein the computer system is configured to control the vehicle in an autonomous mode;

    identifying trajectories associated with other vehicles driving on or near the road;

    determining, by the computer system, that the lane information has become unavailable or unreliable; and

    in response to determining that the lane information has become unavailable or unreliable, the computer system creating a new trajectory based on the trajectories associated with other vehicles, comprising;

    analyzing the trajectories to locate points of intersection among the trajectories representing a potential merge point on the road,determining a location of a lane at the potential merge point,creating a new trajectory that follows the lane at the potential merge point, andcontrolling the vehicle to travel along the new trajectory.

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