Robust method for detecting traffic signals and their associated states

Patent metadata

Field	Value
Publication number	US-9796386-B2
Application number	US-201514831777-A
Country	US
Kind code	B2
Filing date	Aug 20, 2015
Priority date	Mar 26, 2012
Publication date	Oct 24, 2017
Grant date	Oct 24, 2017

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 a distance from the determined location of the detected traffic signal to one or more known locations of traffic signals;
based at least on the determined distance being greater than a threshold distance, determining a control command for a vehicle, wherein the determined control command comprises an instruction to decelerate and an instruction to obtain additional information regarding the detected traffic signal; and
controlling motion of the vehicle in accordance with the determined control command.

2. The method of claim 1 , further comprising:
determining a state of the detected traffic signal,
wherein the determining the control command is further based on the determined state of the detected traffic signal.

3. The method of claim 1 , further comprising determining the one or more known locations of traffic signals based on the determined location of the detected traffic signal.

4. The method of claim 3 , wherein determining the one or more known locations of traffic signals comprises performing a nearest neighbor search using the determined location of the detected traffic signal and a database of locations of traffic signals.

5. The method of claim 1 , further comprising:
obtaining geographic location and orientation information,
wherein determining the location of the detected traffic signal comprises determining the location of the detected traffic signal based on the geographic location and orientation information.

6. The method of claim 5 , wherein the determined location of the detected traffic signal comprises a two-dimensional location.

7. The method of claim 5 , wherein the determined location of the detected traffic signal comprises a three-dimensional location.

8. The method of claim 1 , further comprising:
obtaining an image, and
detecting the detected traffic signal in the image, wherein detecting the traffic signal in the image comprises identifying in the image a pattern of red, yellow, and green objects that is expected for traffic signals.

9. The method of claim 1 , further comprising:
obtaining a three-dimensional point cloud, and
detecting the traffic signal in the three-dimensional point cloud, wherein detecting the traffic signal in the three-dimensional point cloud comprises identifying an object in the three-dimensional point cloud having a shape that is expected for traffic signals.

10. 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 a target area.

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 location of a detected traffic signal;
determining a distance from the determined location of the detected traffic signal to one or more known locations of traffic signals;
based at least on the determined distance being greater than a threshold distance, determining a control command for a vehicle, wherein the determined control command comprises an instruction to decelerate and an instruction to obtain additional information regarding the detected traffic signal; and
controlling motion of the vehicle in accordance with the determined control command.

12. The non-transitory computer-readable medium of claim 11 , further comprising instructions executable by the computing device to cause the computing device to perform functions comprising:
determining a state of the detected traffic signal,
wherein the determining the control command is further based on the determined state of the detected traffic signal.

13. The non-transitory computer-readable medium of claim 11 , further comprising instructions executable by the computing device to cause the computing device to perform functions comprising:
determining the one or more known locations of traffic signals based on the determined location of the detected traffic signal.

14. The non-transitory computer-readable medium of claim 13 , wherein determining the one or more known locations of traffic signals comprises performing a nearest neighbor search using the determined location of the detected traffic signal and a database of locations of traffic signals.

15. The non-transitory computer-readable medium of claim 11 , further comprising instructions executable by the computing device to cause the computing device to perform functions comprising:
obtaining geographic location and orientation information,
wherein determining the location of the detected traffic signal comprises determining the location of the detected traffic signal based on the geographic location and orientation information.

16. A vehicle comprising:
one or more sensors;
a memory;
a processor; and
instructions stored in the memory and executable by the processor to:
determine a location of a detected traffic signal,
determine a distance from the determined location of the detected traffic signal to one or more known locations of traffic signals,
based at least on the determined distance being greater than a threshold distance, determining a control command for the vehicle, wherein the determined control command comprises an instruction to decelerate and an instruction to obtain additional information regarding the detected traffic signal, and
control motion of the vehicle in accordance with the determined control command.

17. The vehicle of claim 16 , further comprising instructions stored in the memory and executable by the processor to:
determine a state of the detected traffic signal,
wherein the determining the control command is further based on the determined state of the detected traffic signal.

18. The vehicle of claim 16 , further comprising instructions stored in the memory and executable by the processor to:
determine the one or more known locations of traffic signals based on the determined location of the detected traffic signal.

19. The vehicle of claim 16 , wherein the vehicle is configured to be operated in an autonomous mode.

Assignees

• Waymo Llc

Inventors

• Ferguson David I
• Fairfield Nathaniel
• Levandowski Anthony

Classifications

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title

• B60W2556/50

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

• B60W30/18154 Primary

  Approaching an intersection · CPC title

• 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