Traffic signal timing estimation using a support vector regression model
First Claim
1. A vehicle comprising:
- a processor configured to execute instructions stored on a non-transitory computer readable medium to;
identify transportation network information representing a vehicle transportation network, the vehicle transportation network including a primary destination, wherein identifying the transportation network information includes identifying the transportation network information such that the transportation network information includes expected traffic control device state information, wherein the expected traffic control device state information is determined using an expected traffic control device state determination unit, wherein the expected traffic control device state determination unit implements a machine learning algorithm, wherein the machine learning algorithm includes a support vector regression algorithm, andidentify a route from an origin to the primary destination in the vehicle transportation network using the transportation network information, wherein the route includes a vehicle transportation network intersection, and wherein the expected traffic control device state information includes expected traffic control device state information corresponding to the vehicle transportation network intersection, and wherein using the transportation network information includes using the expected traffic control device state information corresponding to the vehicle transportation network intersection, wherein the expected traffic control device state information includes at least one of expected permitted right-of-way signal temporal information corresponding to the vehicle transportation network intersection for the route, or expected denied right-of-way signal temporal information corresponding to the vehicle transportation network intersection for the route; and
a trajectory controller configured to operate the vehicle to traverse the vehicle transportation network from the origin to the primary destination using the route.
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Accused Products
Abstract
A method and apparatus for traffic signal timing estimation are disclosed. Traffic signal timing estimation may include a vehicle identifying transportation network information representing a vehicle transportation network including an intersection. The transportation network information may include expected traffic control device state information corresponding to the intersection, such as a support vector regression based machine learning model trained for the intersection. The vehicle may identify a route through the vehicle transportation network that includes the intersection based on the expected traffic control device state information and may control the traversal of the vehicle transportation network by the vehicle based on the expected traffic control device state information to minimize one or more operational cost metrics. Training the model may include identifying training data from input data previously generated and stored by a traffic control device controller of the intersection.
20 Citations
27 Claims
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1. A vehicle comprising:
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a processor configured to execute instructions stored on a non-transitory computer readable medium to; identify transportation network information representing a vehicle transportation network, the vehicle transportation network including a primary destination, wherein identifying the transportation network information includes identifying the transportation network information such that the transportation network information includes expected traffic control device state information, wherein the expected traffic control device state information is determined using an expected traffic control device state determination unit, wherein the expected traffic control device state determination unit implements a machine learning algorithm, wherein the machine learning algorithm includes a support vector regression algorithm, and identify a route from an origin to the primary destination in the vehicle transportation network using the transportation network information, wherein the route includes a vehicle transportation network intersection, and wherein the expected traffic control device state information includes expected traffic control device state information corresponding to the vehicle transportation network intersection, and wherein using the transportation network information includes using the expected traffic control device state information corresponding to the vehicle transportation network intersection, wherein the expected traffic control device state information includes at least one of expected permitted right-of-way signal temporal information corresponding to the vehicle transportation network intersection for the route, or expected denied right-of-way signal temporal information corresponding to the vehicle transportation network intersection for the route; and a trajectory controller configured to operate the vehicle to traverse the vehicle transportation network from the origin to the primary destination using the route. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. An autonomous vehicle comprising:
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a processor configured to execute instructions stored on a non-transitory computer readable medium to; identify transportation network information representing a vehicle transportation network, the vehicle transportation network including a primary destination, wherein identifying the transportation network information includes identifying the transportation network information such that the transportation network information includes expected traffic control device state information, wherein the expected traffic control device state information is determined using an expected traffic control device state determination unit, wherein the expected traffic control device state determination unit implements a machine learning algorithm, wherein the machine learning algorithm includes a support vector regression algorithm, and identify a route from an origin to the primary destination in the vehicle transportation network using the transportation network information, wherein the route includes a vehicle transportation network intersection, and wherein the expected traffic control device state information includes expected traffic control device state information corresponding to the vehicle transportation network intersection, and wherein using the transportation network information includes using the expected traffic control device state information corresponding to the vehicle transportation network intersection, wherein the expected traffic control device state information includes at least one of expected permitted right-of-way signal temporal information corresponding to the vehicle transportation network intersection for the route, or expected denied right-of-way signal temporal information corresponding to the vehicle transportation network intersection for the route; and a trajectory controller configured to operate the autonomous vehicle to traverse the vehicle transportation network from the origin to the primary destination using the route using the expected traffic control device state information corresponding to the vehicle transportation network intersection. - View Dependent Claims (16, 17, 18, 19)
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20. A vehicle comprising:
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a processor configured to execute instructions stored on a non-transitory computer readable medium to; identify transportation network information representing a vehicle transportation network, the vehicle transportation network including a primary destination, wherein identifying the transportation network information includes identifying the transportation network information such that the transportation network information includes expected traffic control device state information, wherein the expected traffic control device state information is determined using a support vector regression algorithm, such that the expected traffic control device state information is determined by; receiving traffic control information for a vehicle actuated traffic control device controller associated with the vehicle transportation network intersection; evaluating the traffic control information to identify a plurality of candidate traffic control features; generating a plurality of validated candidate traffic control features by validating the plurality of candidate traffic control features; determining a plurality of selected traffic control features from the plurality of validated candidate traffic control features; and training the expected traffic control device state determination unit corresponding to the vehicle transportation network intersection using the plurality of selected traffic control features, and identify a route from an origin to the primary destination in the vehicle transportation network using the transportation network information, wherein the route includes a vehicle transportation network intersection, and wherein the expected traffic control device state information includes expected traffic control device state information corresponding to the vehicle transportation network intersection, and wherein using the transportation network information includes using the expected traffic control device state information corresponding to the vehicle transportation network intersection, wherein the expected traffic control device state information includes expected permitted right-of-way signal temporal information corresponding to the vehicle transportation network intersection for the route and expected denied right-of-way signal temporal information corresponding to the vehicle transportation network intersection for the route; and a trajectory controller configured to operate the vehicle to traverse the vehicle transportation network from the origin to the primary destination using the route. - View Dependent Claims (21, 22, 23, 24, 25, 26)
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27. A vehicle comprising:
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a processor configured to execute instructions stored on a non-transitory computer readable medium to; identify transportation network information representing a vehicle transportation network, the vehicle transportation network including a primary destination, wherein identifying the transportation network information includes identifying the transportation network information such that the transportation network information includes expected traffic control device state information, wherein the expected traffic control device state information is determined using an expected traffic control device state determination unit, wherein the expected traffic control device state determination unit implements a machine learning algorithm, wherein the machine learning algorithm includes a support vector regression algorithm, and wherein a traffic control device controller associated with the vehicle transportation network intersection is a vehicle actuated traffic control device controller; and identify a route from an origin to the primary destination in the vehicle transportation network using the transportation network information, wherein the route includes a vehicle transportation network intersection, and wherein the expected traffic control device state information includes expected traffic control device state information corresponding to the vehicle transportation network intersection, and wherein using the transportation network information includes using the expected traffic control device state information corresponding to the vehicle transportation network intersection; and a trajectory controller configured to operate the vehicle to traverse the vehicle transportation network from the origin to the primary destination using the route.
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Specification