Traffic signal response for autonomous vehicles
First Claim
1. A computer-implemented method comprising:
- identifying, by one or more computing devices, a time when a traffic signal light will turn from yellow to red;
estimating, by the one or more computing devices, a location of a vehicle at the identified time that a traffic signal light will turn from yellow to red;
detecting, by the one or more computing devices, a starting point of an intersection associated with a traffic signal light;
determining, by the one or more computing devices, whether the estimated location of the vehicle is at least a threshold distance past the starting point into the intersection;
when the estimated location of the vehicle is determined to be at least a threshold distance past the starting point into the intersection, determining, by the one or more computing devices, that the vehicle should continue through the intersection;
after determining that the vehicle should go through the intersection, estimating, a second location of the vehicle at the time that the traffic signal light will turn from yellow to red; and
determining whether the estimated second location of the vehicle is at least a second threshold distance past the starting point, wherein the second threshold distance is less than the threshold distance.
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Accused Products
Abstract
Aspects of the disclosure relate to determining whether a vehicle should continue through an intersection. For example, the one or more of the vehicle'"'"'s computers may identify a time when the traffic signal light will turn from yellow to red. The one or more computers may also estimate a location of a vehicle at the time when the traffic signal light will turn from yellow to red. A starting point of the intersection may be identified. Based on whether the estimated location of the vehicle is at least a threshold distance past the starting point at the time when the traffic signal light will turn from yellow to red, the computers can determine whether the vehicle should continue through the intersection.
59 Citations
20 Claims
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1. A computer-implemented method comprising:
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identifying, by one or more computing devices, a time when a traffic signal light will turn from yellow to red; estimating, by the one or more computing devices, a location of a vehicle at the identified time that a traffic signal light will turn from yellow to red; detecting, by the one or more computing devices, a starting point of an intersection associated with a traffic signal light; determining, by the one or more computing devices, whether the estimated location of the vehicle is at least a threshold distance past the starting point into the intersection; when the estimated location of the vehicle is determined to be at least a threshold distance past the starting point into the intersection, determining, by the one or more computing devices, that the vehicle should continue through the intersection; after determining that the vehicle should go through the intersection, estimating, a second location of the vehicle at the time that the traffic signal light will turn from yellow to red; and
determining whether the estimated second location of the vehicle is at least a second threshold distance past the starting point, wherein the second threshold distance is less than the threshold distance. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system comprising one or more computing devices configured to:
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identify a time when a traffic signal light will turn from yellow to red; estimate a location of a vehicle at the identified time that a traffic signal light will turn from yellow to red; detect a starting point of an intersection associated with a traffic signal light; determine whether the estimated location of the vehicle is at least a threshold distance past the starting point into the intersection; when the estimated location of the vehicle is determined to be at least a threshold distance past the starting point into the intersection, determine that the vehicle should continue through the intersection; after determining that the vehicle should go through the intersection, estimate, a second location of the vehicle at the time that the traffic signal light will turn from yellow to red; and determine whether the estimated second location of the vehicle is at least a second threshold distance past the starting point, wherein the second threshold distance is less than the threshold distance. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A non-transitory, tangible computer-readable storage medium on which computer readable instructions of a program are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:
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identifying a time when a traffic signal light will turn from yellow to red; estimating a location of a vehicle at the identified time that a traffic signal light will turn from yellow to red; detecting a starting point of an intersection associated with a traffic signal light; determining whether the estimated location of the vehicle is at least a threshold distance past the starting point into the intersection; when the estimated location of the vehicle is determined to be at least a threshold distance past the starting point into the intersection, determining that the vehicle should continue through the intersection; after determining that the vehicle should go through the intersection, estimating, a second location of the vehicle at the time that the traffic signal light will turn from yellow to red; and determining whether the estimated second location of the vehicle is at least a second threshold distance past the starting point, wherein the second threshold distance is less than the threshold distance. - View Dependent Claims (18, 19, 20)
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Specification