Inferring state of traffic signal and other aspects of a vehicle's environment based on surrogate data

Patent metadata

Field	Value
Publication number	US-9804601-B2
Application number	US-201615087390-A
Country	US
Kind code	B2
Filing date	Mar 31, 2016
Priority date	Jun 1, 2012
Publication date	Oct 31, 2017
Grant date	Oct 31, 2017

Abstract

A vehicle configured to operate in an autonomous mode can obtain sensor data from one or more sensors observing one or more aspects of an environment of the vehicle. At least one aspect of the environment of the vehicle that is not observed by the one or more sensors could be inferred based on the sensor data. The vehicle could be controlled in the autonomous mode based on the at least one inferred aspect of the environment of the vehicle.

First claim

What is claimed is:

1. A method, comprising:
obtaining sensor data from one or more sensors observing an environment of a vehicle, wherein the one or more sensors are operationally associated with the vehicle, wherein the vehicle is configured to operate in an autonomous mode, wherein the environment includes a traffic signal that is not observed by the one or more sensors, and wherein the sensor data indicates a status of at least one other vehicle in the environment;
using an inference system to infer a state of the traffic signal based on the status of the at least one other vehicle in the environment; and
controlling the vehicle in the autonomous mode based on the inferred state of the traffic signal.

2. The method of claim 1 , wherein the status of the at least one other vehicle in the environment comprises at least one vehicle that is stopped ahead of the vehicle, and wherein the inference system infers that the state of the traffic signal is red based at least in part on the at least one vehicle that is stopped ahead of the vehicle.

3. The method of claim 1 , wherein the traffic signal is at an intersection of a first roadway and a second roadway, and wherein the vehicle is on the first roadway.

4. The method of claim 3 , wherein the status of the at least one other vehicle in the environment comprises at least one vehicle on the first roadway that is stopped at the intersection, and wherein the inference system infers that the state of the traffic signal is red based at least in part on the at least one vehicle on the first roadway that is stopped at the intersection.

5. The method of claim 3 , wherein the status of the at least one other vehicle in the environment comprises at least one vehicle on the second roadway proceeding through the intersection, and wherein the inference system infers that the state of the traffic signal is red based at least in part on the at least one vehicle on the second roadway proceeding through the intersection.

6. The method of claim 3 , wherein controlling the vehicle in the autonomous mode based on the inferred state of the traffic signal comprises controlling the vehicle to stop at the intersection.

7. The method of claim 3 , wherein controlling the vehicle in the autonomous mode based on the inferred state of the traffic signal comprises controlling the vehicle to proceed through the intersection.

8. The method of claim 1 , further comprising:
obtaining subsequent sensor data from the one or more sensors, wherein the subsequent sensor data indicates a subsequent status of the at least one other vehicle in the environment;
using the inference system to make a subsequent inference regarding the state of the traffic signal based on the subsequent status of the at least one other vehicle in the environment; and
controlling the vehicle in the autonomous mode based on the subsequent inference regarding the state of the traffic signal.

9. The method of claim 1 , wherein obtaining sensor data comprises using at least one of a camera, a radar system, or a lidar system.

10. The method of claim 1 , wherein the status of the at least one other vehicle comprises a state of a brake light of the at least one other vehicle.

11. A vehicle, comprising:
one or more sensors, wherein the one or more sensors are configured to acquire sensor data regarding an environment of the vehicle, wherein the vehicle is configured to operate in an autonomous mode, wherein the environment includes a traffic signal that is not observed by the one or more sensors, and wherein the sensor data indicates a status of at least one other vehicle in the environment;
an inference system, wherein the inference system is configured to infer a state of a traffic signal based on the status of the at least one other vehicle in the environment; and
a control system, wherein the control system is configured to control the vehicle in the autonomous mode based on the inferred state of the traffic signal.

12. The vehicle of claim 11 , wherein the one or more sensors comprise at least one of a camera, a radar system, or a lidar system.

13. The vehicle of claim 11 , wherein the traffic signal is at an intersection of a first roadway and a second roadway, and wherein the vehicle is on the first roadway.

14. The vehicle of claim 13 , wherein the status of the at least one other vehicle in the environment comprises at least one vehicle that is stopped on the first roadway at the intersection, and wherein the inference system infers that the state of the traffic signal is red based at least in part on the at least one vehicle that is stopped on the first roadway at the intersection.

15. The vehicle of claim 13 , wherein the status of the at least one other vehicle in the environment comprises at least one vehicle on the second roadway proceeding through the intersection, and wherein the inference system infers that the state of the traffic signal is red based at least in part on the at least one vehicle on the second roadway proceeding through the intersection.

16. A non-transitory computer readable medium having stored therein instructions executable by a computer system to cause the computer system to perform functions, the functions comprising:
obtaining sensor data from one or more sensors observing an environment of a vehicle, wherein the one or more sensors are operationally associated with the vehicle, wherein the vehicle is configured to operate in an autonomous mode, wherein the environment includes a traffic signal that is not observed by the one or more sensors, and wherein the sensor data indicates a status of at least one other vehicle in the environment;
using an inference system to infer a state of the traffic signal based on the status of the at least one other vehicle in the environment; and
controlling the vehicle in the autonomous mode based on the inferred state of the traffic signal.

17. The non-transitory computer readable medium of claim 16 , wherein the status of the at least one other vehicle in the environment comprises at least one vehicle that is stopped ahead of the vehicle, and wherein the inference system infers that the state of the traffic signal is red based at least in part on the at least one vehicle that is stopped ahead of the vehicle.

18. The non-transitory computer readable medium of claim 16 , wherein the traffic signal is at an intersection of a first roadway and a second roadway, and wherein the vehicle is on the first roadway.

19. The non-transitory computer readable medium of claim 18 , wherein the status of the at least one other vehicle in the environment comprises at least one vehicle on the first roadway that is stopped at the intersection, and wherein the inference system infers that the state of the traffic signal is red based at least in part on the at least one vehicle on the first roadway that is stopped at the intersection.

20. The non-transitory computer readable medium of claim 18 , wherein the status of the at least one other vehicle in the environment comprises at least one vehicle on the second roadway proceeding through the intersection, and wherein the inference system infers that the state of the traffic signal is red based at least in part on the at least one vehicle on the second roadway proceeding through the intersection.

Assignees

• Waymo Llc

Inventors

• Lombrozo Peter
• Teller Eric
• Templeton Bradley

Classifications

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W30/09

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W30/12 Primary

  Lane keeping · CPC title

• B60W30/16

  Control of distance between vehicles, e.g. keeping a distance to preceding vehicle · CPC title

• G01S17/88

  Lidar systems specially adapted for specific applications · CPC title