Detecting and responding to processions for autonomous vehicles
AssigneeWaymo LLC
InventorsDavid Harrison Silver, Qichi Yang
Life of this patent
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Abstract
The technology relates to detecting and responding to processions. For instance, sensor data identifying two or more objects in an environment of a vehicle may be received. The two or more objects may be determined to be disobeying a predetermined rule in a same way. Based on the determination that the two or more objects are disobeying a predetermined rule, that the two or more objects are involved in a procession may be determined. The vehicle may then be controlled autonomously in order to respond to the procession based on the determination that the two or more objects are involved in a procession.
Claims23
A method of controlling a vehicle autonomously, the method comprising:
- receiving, by one or more processors, sensor data;
- determining, by the one or more processors based on the sensor data, a number of objects that are disobeying a predetermined traffic rule;
- and
- controlling, by the one or more processors, the vehicle autonomously based on the determined number of objects that are disobeying a predetermined traffic rule.
A method of controlling a vehicle autonomously, the method comprising:
- receiving, by one or more processors, sensor data;
- determining, by the one or more processors based on the sensor data, a number of objects that are disobeying a predetermined traffic rule;
- determining, by the one or more processors based on the sensor data, an amount of time during which the determined number of objects are disobeying a predetermined traffic rule;
- and
- controlling, by the one or more processors, the vehicle autonomously based on the determined amount of time during which the determined number of objects are disobeying a predetermined traffic rule.
An autonomous vehicle, comprising:
- at least one sensor;
- and
- one or more processors configured to:
- receive sensor data from the at least one sensor;
- determine, based on the sensor data, a number of objects that are disobeying a predetermined traffic rule;
- and
- control the autonomous vehicle based on the determined number of objects that are disobeying a predetermined traffic rule.
Dependencies are inferred from the claim text.