So you had your music cranked up, didn’t hear your Maps directions, and missed your turn. You looked around, found the road empty, and wondered, How illegal would it actually be to pull a u-turn here? Well U-turn laws vary by state, but there are some places they are always legal and other places they are never legal.

Let’s start with always legal. Some cities with divided surface streets have u-turn pass throughs. This is especially common in places such as Detroit where some city planners hoped it would reduce the number of cars waiting to take a left on red. In fact, locals refer to a u-turn and then a righthand turn as a “Michigan left.”

Other intersections with a traffic light feature a lefthand turn lane with its own signal. Sometimes, these lefthand turn lanes with a designated signal have a “no U-turn” sign. If not, it is legal to make a U-turn from this lane once the light turns green. But unlike a “right on red” a U-turn on red is never legal.

So what about three lane roads? You know, those roads with a shared turn lane in the middle? This is a common place for folks to “bend” the rules and make a U-turn. But U-turns are not legal here.

Another place where U-turns are never legal are the pull-offs connecting the lanes of divided highways. These are for emergency vehicles to make U-turns, but not safe for civilians.

Finally, what about two-lane roads with a solid yellow line in the middle? You should assume that it is never legal to cross a solid double yellow line. But do read your local laws. In some states, a U-turn in a “residential” area is allowed if no other traffic is present–even across a double yellow line.

So there you have it, the situations in which U-turns are always illegal, sometimes illegal, and even the places they’re permitted. But again, you’ll want to read up on your local laws before trying this risky maneuver. And remember that if you complete a legal but unsafe U-turn, police can always pull you over for driving recklessly anyway.