A method in an autonomous vehicle comprises determining to perform a left turn maneuver when the vehicle is in a stopping zone, the vehicle is clear of approaching vehicles, and a relevant traffic signal displays a go signal. The method further comprises determining to perform the left turn maneuver when the vehicle has entered a dilemma zone, the vehicle is clear of approaching vehicles, and the relevant traffic signal displays a go signal, a caution signal, or has displayed a stop signal for less than a predetermined amount of time. The method further comprises determining to perform the left turn maneuver when the vehicle has entered a cross-traffic zone, the vehicle is clear of approaching vehicles, and the relevant traffic signal displays a go signal, a caution signal, or a stop signal.