Traffic light estimation
AssigneeMotional AD LLC
InventorsScott D. Pendleton, Aravindkumar Vijayalingam
Life of this patent
Estimating the term…
Abstract
Among other things, we describe techniques for traffic light estimation using range sensors. A planning circuit of a vehicle traveling on a first drivable region that forms an intersection with a second drivable region receives information sensed by a range sensor of the vehicle. The information represents a movement state of an object through the intersection. A traffic signal at the intersection controls movement of objects through the intersection. The planning circuit determines a state of the traffic signal at the intersection based, in part, on the received information. A control circuit controls an operation of the vehicle based, in part, on the state of the traffic signal at the intersection.
Claims20
A computer-implemented method comprising:
- receiving, by a planning circuit of a vehicle traveling on a first drivable region that forms an intersection with a second drivable region, information sensed by at least one range sensor of the vehicle;
- determining, by the planning circuit and based on the information sensed by the at least one range sensor, a movement state of each of a first object on the first drivable region and a second object on the second drivable region, wherein the movement state of each of the first and second objects comprises a stationary state in which the object is stationary or a mobile state in which the object is in motion and a direction in which the object is moving, and wherein a traffic signal at the intersection controls movement of objects through the intersection;
- determining, by the planning circuit, a state of the traffic signal at the intersection and a traffic delay at the intersection based on the movement state of at least one of the first and second objects;
- and
- controlling, by a control circuit, an operation of the vehicle based on at least one of the state of the traffic signal at the intersection and the traffic delay at the intersection.
A vehicle comprising:
- at least one range sensor;
- a planning circuit configured to perform operations comprising:
- receiving information sensed by the at least one range sensor of the vehicle as the vehicle travels on a first drivable region that forms an intersection with a second drivable region;
- determining, based on the information sensed by the at least one range sensor, a movement state of each of a first object on the first drivable region and a second object on the second drivable region, wherein the movement state of each of the first and second objects comprises a stationary state in which the object is stationary or a mobile state in which the object is in motion and a direction in which the object is moving, and wherein a traffic signal at the intersection controls movement of objects through the intersection;
- determining a state of the traffic signal at the intersection and a traffic delay at the intersection based on the movement state of at least one of the first and second objects;
- and
- a control circuit configured to perform operations comprising:
- controlling an operation of the vehicle based on at least one of the state of the traffic signal at the intersection and the traffic delay at the intersection.
At least one computer-readable storage medium storing instructions executable by at least one processor to perform operations comprising:
- receiving information sensed by at least one range sensor of a vehicle as the vehicle travels on a first drivable region that forms an intersection with a second drivable region;
- determining, based on the information sensed by the at least one range sensor, a movement state of each of a first object on the first drivable region and a second object on the second drivable region, wherein the movement state of each of the first and second objects comprises a stationary state in which the object is stationary or a mobile state in which the object is in motion and a direction in which the object is moving, and wherein a traffic signal at the intersection controls movement of objects through the intersection;
- determining a state of the traffic signal at the intersection and a traffic delay at the intersection based on the movement state of at least one of the first and second objects;
- and
- controlling an operation of the vehicle based on at least one of the state of the traffic signal at the intersection and the traffic delay at the intersection.
Dependencies are inferred from the claim text.