Robust method for detecting traffic signals and their associated states

Patent metadata

Field	Value
Publication number	US-10906548-B2
Application number	US-201715667015-A
Country	US
Kind code	B2
Filing date	Aug 2, 2017
Priority date	Mar 26, 2012
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

Abstract

Methods and devices for detecting traffic signals and their associated states are disclosed. In one embodiment, an example method includes a scanning a target area using one or more sensors of a vehicle to obtain target area information. The vehicle may be configured to operate in an autonomous mode, and the target area may be a type of area where traffic signals are typically located. The method may also include detecting a traffic signal in the target area information, determining a location of the traffic signal, and determining a state of the traffic signal. Also, a confidence in the traffic signal may be determined. For example, the location of the traffic signal may be compared to known locations of traffic signals. Based on the state of the traffic signal and the confidence in the traffic signal, the vehicle may be controlled in the autonomous mode.

First claim

What is claimed is:

1. A method comprising:
determining a location of a detected traffic signal;
determining, using a computing device, whether there is a known location of a traffic signal within a threshold distance of the determined location of the detected traffic signal;
determining a state of the detected traffic signal;
determining, using the computing device, a control command for a vehicle based on the determined state of the detected traffic signal and the determination of whether there is a known location of a traffic signal within the threshold distance of the determined location of the detected traffic signal, wherein determining the control command comprises outputting an instruction to obtain additional information regarding the detected traffic signal using a sensor of the vehicle based on the determination being that there is not a known location of a traffic signal within the threshold distance of the determined location of the detected traffic signal, and wherein determining the control command comprises:
i) outputting an instruction to brake in response to the determined state of the detected traffic signal being red and the determination being that there is not a known location of a traffic signal within the threshold distance of the determined location of the detected traffic signal,
ii) outputting an instruction to proceed with caution in response to the determined state of the detected traffic signal being green and the determination being that there is not a known location of a traffic signal within the threshold distance of the determined location of the detected traffic signal, or
iii) outputting an instruction to decelerate in response to the determined state of the detected traffic signal being unknown and the determination being that there is not a known location of a traffic signal within the threshold distance of the determined location of the detected traffic signal; and

controlling motion of the vehicle in accordance with the determined control command.

2. The method of claim 1 :
wherein the detected traffic signal is detected in a target area, and
wherein the instruction to obtain additional information regarding the detected traffic signal comprises an instruction to rescan the target area.

3. The method of claim 1 , wherein determining whether there is a known location of a traffic signal within a threshold distance of the determined location of the detected traffic signal comprises performing a search to determine known locations of traffic signals using the determined location of the detected traffic signal and a traffic signal database.

4. The method of claim 3 , wherein the search comprises a nearest neighbor search.

5. The method of claim 1 , further comprising:
obtaining an image; and
detecting the detected traffic signal in the image.

6. A controller comprising:
a memory;
a processor; and
instructions stored in the memory and executable by the processor to cause the controller to perform functions comprising:
determining a location of a detected traffic signal,
determining whether there is a known location of a traffic signal within a threshold distance of the determined location of the detected traffic signal,
determining a state of the detected traffic signal,
determining a control command for a vehicle based on the determined state of the detected traffic signal and the determination of whether there is a known location of a traffic signal within the threshold distance of the determined location of the detected traffic signal, wherein determining the control command comprises outputting an instruction to obtain additional information regarding the detected traffic signal using a sensor of the vehicle based on the determination being that there is not a known location of a traffic signal within the threshold distance of the determined location of the detected traffic signal, and wherein determining the control command comprises:
i) outputting an instruction to brake in response to the determined state of the detected traffic signal being red and the determination being that there is not a known location of a traffic signal within the threshold distance of the determined location of the detected traffic signal;
ii) outputting an instruction to proceed with caution in response to the determined state of the detected traffic signal being green and the determination being that there is not a known location of a traffic signal within the threshold distance of the determined location of the detected traffic signal; or
iii) outputting an instruction to decelerate in response to the determined state of the detected traffic signal being unknown and the determination being that there is not a known location of a traffic signal within the threshold distance of the determined location of the detected traffic signal, and

controlling motion of the vehicle in accordance with the determined control command.

7. A method comprising:
detecting a traffic signal using a vehicle;
determining, using a computing device, whether there is a known location of a traffic signal within a threshold distance of a location of the vehicle;
determining a state of the detected traffic signal;
determining, using the computing device, a control command for the vehicle based on the determined state of the detected traffic signal and the determination of whether there is a known location of a traffic signal within the threshold distance of the location of the vehicle, wherein determining the control command comprises outputting an instruction to obtain additional information regarding the detected traffic signal using a sensor of the vehicle based on the determination being that there is not a known location of a traffic signal within the threshold distance of the location of the vehicle, and wherein determining the control command comprises:
i) outputting an instruction to brake in response to the determined state of the detected traffic signal being red and the determination being that there is not a known location of a traffic signal within the threshold distance of the determined location of the detected traffic signal,
ii) outputting an instruction to proceed with caution in response to the determined state of the detected traffic signal being green and the determination being that there is not a known location of a traffic signal within the threshold distance of the determined location of the detected traffic signal, or
iii) outputting an instruction to decelerate in response to the determined state of the detected traffic signal being unknown and the determination being that there is not a known location of a traffic signal within the threshold distance of the determined location of the detected traffic signal; and

controlling motion of the vehicle in accordance with the determined control command.

8. The method of claim 7 , wherein determining whether there is a known location of a traffic signal within a threshold distance of the location of the vehicle comprises performing a search to determine known locations of traffic signals using the location of the vehicle and a traffic signal database.

Assignees

• Waymo Llc

Inventors

• Ferguson David I
• Fairfield Nathaniel
• Levandowski Anthony

Classifications

• B60W2420/403

  Image sensing, e.g. optical camera · CPC title

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• B60W40/04 Primary

  Traffic conditions · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title

• B60W2556/20

  Data confidence level · CPC title