Traffic signal response for autonomous vehicles

• US 9,707,960 B2
• Filed: 07/31/2014
• Issued: 07/18/2017
• Est. Priority Date: 07/31/2014
• Status: Active Grant

• Current Assignee: Google LLC (Alphabet Inc.)
• Original Assignee: Waymo LLC (Alphabet Inc.)
• Inventors: Gutmann, Jens-Steffen Ralf, Wendel, Andreas, Burnette, Donald Jason, Fairfield, Nathaniel, Dolgov, Dmitri A.
• Primary Examiner(s): Wang, Jack K
• Application Number:
  US14/448,299
• Publication Number:
  US 20160035223A1
• Time in Patent Office: 1,083 Days
• Field of Search: 340907, 340937, 340905, 340929, 382104, 701 70
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• 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 1/09626 where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle

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.

Claims

1. A computer-implemented method comprising:

identifying, by one or more computing devices internal to a vehicle, a time when a traffic signal light will turn from yellow to red;

estimating, by the one or more computing devices internal to the vehicle, a location of the vehicle at the identified time that a traffic signal light will turn from yellow to red;

detecting, by the one or more computing devices internal to the vehicle, a starting marker at an intersection associated with a traffic signal light while the vehicle is in motion;

determining, by the one or more computing devices internal to the vehicle, whether the estimated location of the vehicle will be at least a threshold distance past the starting marker into the intersection; and

when the estimated location of the vehicle is determined to be at least a threshold distance past the starting marker into the intersection, determining, by the one or more computing devices internal to the vehicle, that the vehicle should continue through the intersection.

2. The method of claim 1, further comprising, when the estimated location of the vehicle is determined not to be at least a threshold distance past the starting marker, determining that the vehicle should stop at or before the starting marker.

3. The method of claim 1, further comprising:

identify a time when a traffic signal light turned from green to yellow;

identifying a length of time that the traffic signal light will remain yellow; and

wherein identifying the time when the traffic signal light will turn from yellow to red is based on the time when a traffic signal light turned from green to yellow and a length of time that the traffic signal light will remain yellow.

4. The method of claim 3, wherein identifying the length of time include calculating the length of time based on a speed limit of a roadway on which the vehicle is traveling.

5. The method of claim 3, wherein identifying the length of time includes retrieving a default value.

6. The method of claim 3, wherein identifying the length of time includes accessing a plurality of lengths of times for various traffic signal lights and retrieving a value corresponding to the traffic signal light.

7. The method of claim 1, further comprising:

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 will be at least a second threshold distance past the starting marker, wherein the second threshold distance is less than the threshold distance.

8. The method of claim 1, wherein the estimated location of the vehicle corresponds to an estimated location of a portion of the vehicle proximate to a rear of the vehicle.

9. The method of claim 1, wherein identifying the time when the traffic signal light will turn from yellow to red is based on information received from a device remote from the vehicle.

10. A system comprising one or more computing devices internal to a vehicle configured to:

identify a time when a traffic signal light will turn from yellow to red;

estimate a location of the vehicle at the identified time that a traffic signal light will turn from yellow to red;

detect a starting marker at an intersection associated with a traffic signal light while the vehicle is in motion;

determine whether the estimated location of the vehicle will be at least a threshold distance past the starting marker into the intersection; and

when the estimated location of the vehicle is determined to be at least a threshold distance past the starting marker into the intersection, determine that the vehicle should continue through the intersection.

11. The system of claim 10, wherein the one or more computing devices are further configured to, when the estimated location of the vehicle is determined not to be at least a threshold distance past the starting marker, determine that the vehicle should stop at or before the starting marker.

12. The system of claim 10, wherein the one or more computing devices are further configured to:

identify a time when a traffic signal light turned from green to yellow;

identify a length of time that the traffic signal light will remain yellow; and

identify the time when the traffic signal light will turn from yellow to red based on the time when a traffic signal light turned from green to yellow and a length of time that the traffic signal light will remain yellow.

13. The system of claim 12, wherein the one or more computing devices are further configured to identify the length of time by calculating the length of time based on a speed limit of a roadway on which the vehicle is traveling.

14. The system of claim 12, wherein the one or more computing devices are further configured to identify the length of time by retrieving a default value.

15. The system of claim 12, wherein the one or more computing devices are further configured to identify the length of time by accessing a plurality of lengths of times for various traffic signal lights and retrieving a value corresponding to the traffic signal light.

16. The system of claim 12, wherein the one or more computing devices are further configured to:

after determining that the vehicle should go through the intersection, estimate, a second location of the vehicle at the time that the traffic signal will turn from yellow to red; and

determine whether the estimated second location of the vehicle will be at least a second threshold distance past the starting marker, wherein the second threshold distance is less than the threshold distance.

17. The system of claim 10, wherein the estimated location of the vehicle corresponds to an estimated location of a portion of the vehicle proximate to a rear of the vehicle.

18. The system of claim 10, wherein the one or more computing devices are further configured to identify the time when the traffic signal light will turn from yellow to red based on information received from a device remote from the vehicle.

19. 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 internal to a vehicle to perform a method, the method comprising:

identifying a time when a traffic signal light will turn from yellow to red;

estimating a location of the vehicle at the identified time that a traffic signal light will turn from yellow to red;

detecting a starting marker at an intersection associated with a traffic signal light while the vehicle is in motion;

determining whether the estimated location of the vehicle will be at least a threshold distance past the starting marker into the intersection; and

when the estimated location of the vehicle is determined to be at least a threshold distance past the starting marker into the intersection, determining that the vehicle should continue through the intersection.

20. The medium of claim 19, wherein the method further comprises:

identifying a time when a traffic signal light turned from green to yellow;

identifying a length of time that the traffic signal light will remain yellow; and

wherein identifying the time when the traffic signal light will turn from yellow to red is based on the time when a traffic signal light turned from green to yellow and a length of time that the traffic signal light will remain yellow.