US Patent 9701306 Risk mitigation for autonomous vehicles relative to turning objects

Arrangements related to the mitigation of risk for an autonomous vehicle relative to turning objects are presented. An object in an external environment of the autonomous vehicle that is turning toward the autonomous vehicle can be detected. It can be determined whether the detected object will impinge upon the autonomous vehicle. Responsive to determining that the detected object will impinge upon the autonomous vehicle, a driving maneuver for the autonomous vehicle can be determined to avoid being impinged upon by the detected object. The autonomous vehicle can be caused to implement the determined driving maneuver.