Use of Uncertainty Regarding Observations of Traffic Intersections to Modify Behavior of a Vehicle

• US 20140277901A1
• Filed: 05/27/2014
• Published: 09/18/2014
• Est. Priority Date: 04/09/2012
• Status: Active Grant

• Current Assignee: Waymo LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Ferguson, David I., Fairfield, Nathaniel
• Granted Patent: US 9,261,879 B2
• Time in Patent Office: Days
• US Class Current: 701/27
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• 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 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096758 where no selection takes place on the transmitted or the received information
• CPC Class Codes: G08G 1/096783 where the origin of the information is a roadside individual element

Abstract

Methods and devices for using uncertainty regarding observations of traffic intersections to modify behavior of a vehicle are disclosed. In one embodiment, an example method includes determining a state of a traffic intersection using information from one or more sensors of a vehicle. The vehicle may be configured to operate in an autonomous mode. The method may also include determining an uncertainty associated with the determined state of the traffic intersection. The method may further include controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty.

Claims

1. A method comprising:

determining a state of a traffic intersection using information from one or more sensors of a vehicle, wherein determining the state of the traffic intersection comprises determining a state of a traffic signal of the traffic intersection, and wherein the vehicle is configured to operate in an autonomous mode;

determining an uncertainty associated with the determined state of the traffic intersection; and

controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty associated with the determined state of the traffic intersection.

2. The method of claim 1, wherein the uncertainty associated with the determined state of the traffic intersection comprises an uncertainty associated with the determined state of the traffic signal.

3. The method of claim 2:

wherein determining the state of the traffic signal comprises obtaining an image of the traffic signal; and

wherein the uncertainty associated with the determined state of the traffic signal comprises a clarity of the traffic signal in the image.

4. The method of claim 2, wherein the uncertainty associated with the determined state of the traffic signal comprises a historical ability to determine the state of the traffic signal.

5. The method of claim 4, wherein the historical ability comprises a probability that the state of the traffic signal is discernable at a given time of day.

6. The method of claim 4, wherein the historical ability comprises a probability that the state of the traffic signal is discernable when the vehicle is traveling at a speed that is greater than a threshold speed.

7. The method of claim 1:

wherein determining the state of the traffic intersection further comprises determining another state of another traffic signal of the traffic intersection; and

wherein determining the uncertainty associated with the determined state of the traffic intersection comprises determining the uncertainty associated with the determined state of the traffic intersection based on both the state of the traffic signal of the traffic intersection and the other state of the other traffic signal of the traffic intersection.

8. The method of claim 1, wherein controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty associated with the determined state of the traffic intersection comprises controlling the vehicle according to a more restrictive state than the determined state of the traffic intersection in response to determining that the determined uncertainty associated with the determined state of the traffic intersection is greater than a predetermined uncertainty threshold.

9. The method of claim 1, wherein controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty associated with the determined state of the traffic intersection comprises (i) selecting a presumed state of the traffic intersection based on the determined state of the traffic intersection and the determined uncertainty associated with the state of the traffic intersection and (ii) controlling the vehicle in the autonomous mode based on the presumed state of the traffic intersection.

10. The method of claim 1, wherein controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty associated with the state of the traffic intersection comprises, in response to determining that the determined uncertainty associated with the state of the traffic intersection is greater than a predetermined uncertainty threshold:

moving the vehicle to an adjusted position;

obtaining from the adjusted position, using the one or more sensors of the vehicle, additional information that is indicative of the state of the traffic intersection; and

controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the additional information.

11. A non-transitory computer-readable medium having stored therein instructions executable by a computing device to cause the computing device to perform functions comprising:

determining a state of a traffic intersection using information from one or more sensors of a vehicle, wherein determining the state of the traffic intersection comprises determining a state of a traffic signal of the traffic intersection, and wherein the vehicle is configured to operate in an autonomous mode;

determining an uncertainty associated with the determined state of the traffic intersection; and

controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty associated with the determined state of the traffic intersection.

12. The non-transitory computer-readable medium of claim 11, wherein the uncertainty associated with the determined state of the traffic intersection comprises an uncertainty associated with the determined state of the traffic signal.

13. The non-transitory computer-readable medium of claim 12:

wherein determining the state of the traffic signal comprises obtaining an image of the traffic signal; and

wherein the uncertainty associated with the determined state of the traffic signal comprises a clarity of the traffic signal in the image.

14. The non-transitory computer-readable medium of claim 12, wherein the uncertainty associated with the determined state of the traffic signal comprises a historical ability to determine the state of the traffic signal.

15. The non-transitory computer-readable medium of claim 11, wherein controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty associated with the state of the traffic intersection comprises, in response to determining that the determined uncertainty associated with the state of the traffic intersection is greater than a predetermined uncertainty threshold:

moving the vehicle to an adjusted position;

obtaining from the adjusted position, using the one or more sensors of the vehicle, additional information that is indicative of the state of the traffic intersection; and

controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the additional information.

16. A vehicle configured to be operated in an autonomous mode, comprising:

one or more sensors configured to obtain information associated with a traffic intersection;

a memory;

a processor; and

instructions stored in the memory and executable by the processor to;

determine a state of a traffic intersection based on the obtained information, wherein determining the state of the traffic intersection comprises determining a state of a traffic signal of the traffic intersection,

determine an uncertainty associated with the determined state of the traffic intersection, and

control the vehicle in the autonomous mode based on the determined stated of the traffic intersection and the determined uncertainty associated with the determined state of the traffic intersection.

17. The vehicle of claim 16, wherein the uncertainty associated with the determined state of the traffic intersection comprises an uncertainty associated with the determined state of the traffic signal.

18. The vehicle of claim 17:

wherein determining the state of the traffic signal comprises obtaining an image of the traffic signal; and

wherein the uncertainty associated with the determined state of the traffic signal comprises a clarity of the traffic signal in the image.

19. The vehicle of claim 17, wherein the uncertainty associated with the determined state of the traffic signal comprises a historical ability to determine the state of the traffic signal.

20. The vehicle of claim 16, wherein controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the determined uncertainty associated with the state of the traffic intersection comprises, in response to determining that the determined uncertainty associated with the state of the traffic intersection is greater than a predetermined uncertainty threshold:

moving the vehicle to an adjusted position;

obtaining from the adjusted position, using the one or more sensors of the vehicle, additional information that is indicative of the state of the traffic intersection; and

controlling the vehicle in the autonomous mode based on the determined state of the traffic intersection and the additional information.