US Patent 10232848 Detection of left turn across path/opposite direction oncoming objects

A vehicle can be configured to operate relative to oncoming objects. The vehicle can sense to external environment of the vehicle. An oncoming object approaching the vehicle from an opposite direction can be detected. It can be determined whether the oncoming object intends to execute a left turn across the path of the vehicle. Such a determination can be performed in various ways. Responsive to determining that the oncoming object intends to execute a left turn across the path of the vehicle, a driving maneuver to avoid a collision with the oncoming object can be determined. The vehicle can be caused to implement the determined driving maneuver.