Robust method for detecting traffic signals and their associated states

Patent metadata

Field	Value
Publication number	US-12134384-B2
Application number	US-202318218290-A
Country	US
Kind code	B2
Filing date	Jul 5, 2023
Priority date	Mar 26, 2012
Publication date	Nov 5, 2024
Grant date	Nov 5, 2024

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 additional information to confirm the state of the traffic signal, wherein determining the additional information comprises at least one of:
(i) requesting more information from a passenger or driver of the vehicle, and
(ii) monitoring behavior of one or more vehicles traveling relative to the traffic intersection;

decreasing a speed of the vehicle while determining the additional information to confirm the state of the traffic signal;
confirming, based on the additional information, the state of the traffic signal; and
controlling the vehicle based on the confirmed state of the traffic signal.

2. The method of claim 1 , wherein determining the additional information comprises:
requesting more information from the passenger or driver of the vehicle and monitoring behavior of one or more vehicles traveling relative to the traffic intersection.

3. The method of claim 1 , wherein monitoring behavior of one or more vehicles traveling relative to the intersection comprises:
monitoring behavior of another vehicle traveling in front of the vehicle.

4. The method of claim 1 , further comprising:
providing a visual or audible indication based on the confirmed state of the traffic signal.

5. The method of claim 1 , further comprising:
providing instructions or warnings to the driver based on the confirmed state of the traffic signal.

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

7. The method of claim 1 , where determining additional information to confirm the state of the traffic signal further comprises:
receiving additional information from a sensor of the vehicle, wherein the additional information corresponds to an area of the traffic signal of the traffic intersection and is used to confirm the state of the traffic signal of the traffic intersection.

8. The method of claim 1 , further comprising:
determining an uncertainty associated with the determined state of the traffic signal of the traffic intersection; and
wherein determining additional information to confirm the state of the traffic signal comprises:
determining the additional information based on the uncertainty associated with the determined state of the traffic signal of the traffic intersection.

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 determining the state of the traffic signal of the traffic intersection comprises:
determining the state of the traffic signal of the traffic intersection based on one or more images from a camera coupled to the vehicle.

11. 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, wherein the vehicle is configured to operate in an autonomous mode;
determining additional information to confirm the state of the traffic signal, wherein determining the additional information comprises at least one of:
(i) requesting more information from a passenger or driver of the vehicle, and
(ii) monitoring behavior of one or more vehicles traveling relative to the traffic intersection;

decreasing a speed of the vehicle while determining the additional information to confirm the state of the traffic signal;
confirming, based on the additional information, the state of the traffic signal; and
controlling the vehicle based on the confirmed state of the traffic signal.

12. The non-transitory computer-readable medium of claim 11 , wherein the functions further comprise:
requesting more information from the passenger or driver of the vehicle and monitoring behavior of one or more vehicles traveling relative to the traffic intersection.

13. The non-transitory computer-readable medium of claim 11 , wherein the functions further comprise:
monitoring behavior of another vehicle traveling in front of the vehicle.

14. The non-transitory computer-readable medium of claim 11 , wherein the functions further comprise:
providing a visual or audible indication based on the confirmed state of the traffic signal.

15. The non-transitory computer-readable medium of claim 11 , wherein the functions further comprise:
providing instructions or warnings to the driver based on the confirmed state of the traffic signal.

16. The non-transitory computer-readable medium of claim 11 , wherein the functions further comprise:
monitoring behavior of one or more vehicles traveling as cross-traffic with respect to the vehicle.

17. The non-transitory computer-readable medium of claim 11 , wherein the functions further comprise:
receiving additional information from a sensor of the vehicle, wherein the additional information corresponds to an area of the traffic signal of the traffic intersection and is used to confirm the state of the traffic signal of the traffic intersection.

18. The non-transitory computer-readable medium of claim 11 , wherein the functions further comprise:
determining the state of the traffic signal of the traffic intersection based on one or more images from a camera coupled to the vehicle.

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, wherein the vehicle is configured to operate in an autonomous mode;
determine additional information to confirm the state of the traffic signal, wherein determining the additional information comprises at least one of:
(i) requesting more information from a passenger or driver of the vehicle, and
(ii) monitoring behavior of one or more vehicles traveling relative to the traffic intersection;

decrease a speed of the vehicle while determining the additional information to confirm the state of the traffic signal;
confirm, based on the additional information, the state of the traffic signal; and
control the vehicle based on the confirmed state of the traffic signal.

20. The method of claim 10 , wherein determine additional information to confirm the state of the traffic signal further comprising:
determining additional information based on one or more additional images from the camera coupled to the vehicle.

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