Traffic light anticipation

• US 10,259,457 B2
• Filed: 11/22/2016
• Issued: 04/16/2019
• Est. Priority Date: 05/13/2014
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Meyer, Jason, Doering, Jeffrey Allen
• Primary Examiner(s): Tran, Khoi H
• Assistant Examiner(s): Peche, Jorge O
• Application Number:
  US15/359,093
• Publication Number:
  US 20170072962A1
• Time in Patent Office: 875 Days
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/408 Traffic behavior, e.g. swarm
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B60W 60/001 Planning or execution of driving tasks
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: G08G 1/0133 for classifying traffic situation
• CPC Class Codes: G08G 1/095 : Traffic lights
• CPC Class Codes: G08G 1/09623 : Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle G08G1/0967 takes precedence
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vehicle includes at least one autonomous driving sensor configured to detect a traffic flow pattern relative to an intersection. An autonomous mode controller is configured to determine the state of the traffic control device. The autonomous mode controller may estimate when the state of the traffic control device is likely to change based on the traffic flow pattern.

Claims

1. A vehicle system for an autonomous vehicle, the vehicle system comprising:

at least one autonomous driving sensor configured to detect a cross-walk signal associated with an intersection and indicating a state of a traffic control device and movement of vehicles through the intersection; and

an autonomous mode controller configured to determine the state of the traffic control device, estimate when the state of the traffic control device will change based at least in part on the cross-walk signal and the movement of vehicles through the intersection, and autonomously control the vehicle in accordance with the estimate of when the state of the traffic control device will change,

wherein the autonomous mode controller is programmed to determine the state of a traffic control device based at least in part on a traffic flow pattern including a direction of vehicles moving through the intersection.

2. The vehicle system of claim 1, wherein the autonomous mode controller is configured to estimate when the state of the traffic control device will change based at least in part on cross-traffic slowing down as it approaches the intersection.

3. The vehicle system of claim 1, wherein the autonomous mode controller is programmed to determine the state of the traffic control device based on vehicles moving through the intersection toward the autonomous vehicle.

4. The vehicle system of claim 1, wherein the autonomous mode controller is programmed to determine the state of the traffic control device based on cross-traffic moving through the intersection.

5. A method comprising:

determining a traffic flow pattern relative to an intersection, wherein the traffic flow pattern is based at least in part on a cross-walk signal;

determining a state of a traffic control device;

detecting movement of vehicles through the intersection;

estimating, via a computing device, when the state of the traffic control device will change based at least in part on the detected movement of the vehicles; and

autonomously controlling an autonomous vehicle based at least in part on the estimate of when the state of the traffic control device will change,

wherein the state of the traffic control device is based at least in part on the traffic flow pattern including a direction of vehicles moving through the intersection.

6. The method of claim 5, wherein estimating when the state of the traffic control device will change includes estimating when the state of the traffic control device will change based at least in part on cross-traffic slowing down as it approaches the intersection.

7. The method of claim 5, wherein determining the state of the traffic control device based on a direction of vehicles moving through the intersection includes determining the state of the traffic control device based on vehicles moving through the intersection toward the autonomous vehicle.

8. The method of claim 5, wherein determining the state of the traffic control device based on a direction of vehicles moving through the intersection includes determining the state of the traffic control device based on cross-traffic moving through the intersection.