Robust method for detecting traffic signals and their associated states

Patent metadata

Field	Value
Publication number	US-11731629-B2
Application number	US-202017080724-A
Country	US
Kind code	B2
Filing date	Oct 26, 2020
Priority date	Mar 26, 2012
Publication date	Aug 22, 2023
Grant date	Aug 22, 2023

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 of controlling a vehicle, the method comprising:
determining a state of a traffic signal of a traffic intersection, wherein the vehicle is configured to operate in an autonomous mode;
determining an uncertainty associated with the determined state of the traffic signal of the traffic intersection;
monitoring, in response to the determined uncertainty associated with the determined state of the traffic signal, behavior of one or more vehicles traveling relative to the traffic intersection;
confirming, based on the behavior of one or more vehicles traveling relative to the traffic intersection, the determined state of the traffic signal; and
controlling motion of the vehicle in the autonomous mode based on confirming the determined state of the traffic signal of the traffic intersection.

2. The method of claim 1 , further comprising receiving information from a sensor of the vehicle, wherein the information corresponds to an area of the traffic signal of the traffic intersection and is used to determine the state of the traffic signal of the traffic intersection.

3. The method of claim 1 , further comprising receiving information via a communication network from a device remote from the vehicle, wherein the information is used to determine the uncertainty associated with the determined state of the traffic signal of the traffic intersection.

4. The method of claim 1 , further comprising:
gathering information corresponding to the traffic signal of the traffic intersection; and
wherein confirming the determined state of the traffic signal further comprises:
using the gathered information to confirm the state of the traffic signal of the traffic intersection, wherein the confirmed state of the traffic signal is used to control the vehicle.

5. The method of claim 4 , wherein the gathered information is used to confirm the state of the traffic signal of the traffic intersection when a distance from a location of the traffic signal of the traffic intersection to a nearest known location of a traffic signal is at least a predetermined amount.

6. The method of claim 4 , wherein the gathered information is used to confirm the state of the traffic signal of the traffic intersection when a distance from a location of the vehicle to a nearest known location of a traffic signal is at least a predetermined amount.

7. The method of claim 4 , wherein gathering the information includes requesting information about the state of the traffic signal of the traffic intersection from an occupant of the vehicle.

8. The method of claim 1 , wherein monitoring behavior of one or more vehicles traveling relative to the traffic intersection comprise:
monitoring the behavior of a second vehicle traveling as cross-traffic with respect to the vehicle.

9. The method of claim 1 , wherein determining the state of the traffic signal of the traffic intersection comprises determining the state of the traffic signal of the traffic intersection using information from one or more sensors of the vehicle.

10. The method of claim 1 , wherein the uncertainty associated with the determined state of the traffic signal of the traffic intersection is based on a distance from a location of the vehicle to a nearest known location of a traffic intersection.

11. The method of claim 1 , wherein the uncertainty associated with the determined state of the traffic signal of the traffic intersection is based on a distance from a location of the vehicle to a nearest known location of a traffic signal.

12. The method of claim 1 , wherein the uncertainty associated with the determined state of the traffic signal of the traffic intersection is based on a distance from a location of the traffic signal of the traffic intersection to a nearest known location of a traffic signal.

13. The method of claim 1 , wherein controlling motion of the vehicle in the autonomous mode based on the determined state of the traffic signal of the traffic intersection and the determined uncertainty associated with the determined state of the traffic signal of the traffic intersection comprises controlling motion of the vehicle according to a more restrictive state than the determined state of the traffic signal of the traffic intersection in response to detecting the traffic signal in an unexpected location.

14. The method of claim 1 , wherein controlling motion of the vehicle in the autonomous mode based on the determined state of the traffic signal of the traffic intersection and the determined uncertainty associated with the determined state of the traffic signal of the traffic intersection comprises:
moving the vehicle to an adjusted position;
obtaining from the adjusted position, using one or more sensors of the vehicle, additional information that is indicative of the state of the traffic signal of the traffic intersection; and
controlling motion of the vehicle in the autonomous mode based on the determined state of the traffic signal of the traffic intersection and the additional information.

15. The method of claim 1 , wherein determining the state of the traffic signal comprises using known locations of traffic signals.

16. The method of claim 1 , wherein determining the state of the traffic signal is further based on a speed of the vehicle and a distance between the vehicle and the traffic signal.

17. A non-transitory computer-readable medium having stored therein instructions executable by a computing device to cause the computing device to perform functions comprising:
determining a state of a traffic signal of a traffic intersection;
determining an uncertainty associated with the determined state of the traffic signal of the traffic intersection;
monitoring, in response to the determined uncertainty associated with the determined state of the traffic signal, behavior of one or more vehicles traveling relative to the traffic intersection;
confirming, based on the behavior of one or more vehicles traveling relative to the traffic intersection, the determined state of the traffic signal; and
controlling motion of a vehicle in an autonomous mode based on confirming the determined state of the traffic signal of the traffic intersection.

18. The non-transitory computer-readable medium of claim 17 , wherein:
the functions further comprise receiving information from a sensor of the vehicle, and
the information corresponds to an area of the traffic signal of the traffic intersection and is used to determine the state of the traffic signal of the traffic intersection.

19. A vehicle configured to be operated in an autonomous mode, the vehicle comprising:
a memory;
a processor coupled to the memory; and
instructions stored in the memory and executable by the processor to:
determine a state of a traffic signal of a traffic intersection;
determine an uncertainty associated with the determined state of the traffic signal of the traffic intersection;
monitor, in response to the determined uncertainty associated with the determined state of the traffic signal, behavior of one or more vehicles traveling relative to the traffic intersection;
confirm, based on the behavior of one or more vehicles traveling relative to the traffic intersection, the determined state of the traffic signal; and
control motion of the vehicle in the autonomous mode based on confirming the determined state of the traffic signal of the traffic intersection.

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