Robust Method for Detecting Traffic Signals and their Associated States
First Claim
1. A method comprising:
- scanning a target area using one or more sensors of a vehicle to obtain target area information, wherein the vehicle is configured to operate in an autonomous mode and the target area is a type of area where traffic signals are typically located;
detecting a traffic signal in the target area information;
determining a location of the traffic signal;
determining a state of the traffic signal;
determining a confidence in the traffic signal, wherein determining the confidence in the traffic signal comprises comparing the location of the traffic signal to one or more known locations of traffic signals; and
controlling the vehicle in the autonomous mode based on the state of the traffic signal and the confidence in the traffic signal.
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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.
148 Citations
20 Claims
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1. A method comprising:
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scanning a target area using one or more sensors of a vehicle to obtain target area information, wherein the vehicle is configured to operate in an autonomous mode and the target area is a type of area where traffic signals are typically located; detecting a traffic signal in the target area information; determining a location of the traffic signal; determining a state of the traffic signal; determining a confidence in the traffic signal, wherein determining the confidence in the traffic signal comprises comparing the location of the traffic signal to one or more known locations of traffic signals; and controlling the vehicle in the autonomous mode based on the state of the traffic signal and the confidence in the traffic signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transitory computer readable medium having stored therein instructions executable by a computing device to cause the computing device to perform functions comprising:
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scanning a target area using one or more sensors of a vehicle to obtain target area information, wherein the vehicle is configured to be operated in an autonomous mode and the target area includes a type of area where traffic signals are typically located; detecting a traffic signal in the target area information; determining a location of the traffic signal; determining a state of the traffic signal; determining a confidence in the traffic signal, wherein determining the confidence in the traffic signal comprises comparing the location of the traffic signal to one or more known locations of traffic signals; and controlling the vehicle in the autonomous mode based on the state of the traffic signal and the confidence in the traffic signal. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A vehicle configured to be operated in autonomous mode, comprising:
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one or more sensors; a memory; a processor; and instructions stored in the memory and executable by the processor to; cause the one or more sensors to scan a target area to obtain target area information, wherein the target area includes a type of area where traffic signals are typically located; detect a traffic signal in the target area information; determine a location of the traffic signal; determine a state of the traffic signal; determine a confidence in the traffic signal, wherein determining the confidence in the traffic signal comprises comparing the location of the traffic signal to one or more known locations of traffic signals; and control the vehicle in the autonomous mode based on the state of the traffic signal and the confidence in the traffic signal. - View Dependent Claims (17, 18, 19, 20)
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Specification