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.