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US 12,112,550 B2Granted
Systems and methods for traffic light detection
AssigneeMotional AD LLC
InventorsLubing Zhou, Jiong Yang, Ankit Dhall
Life of this patent
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Abstract
This disclosure describes the use of optical sensors to detect and characterize the state of traffic lights to assist with the navigation of autonomous vehicles. In particular, a specific optical configuration is shown that includes both a fixed-exposure sensor and an auto-exposure sensor. Imagery from the two sensor types can be combined to more accurately characterize the state of traffic signals at any particular intersection. Systems and methods for analyzing only select regions of the imagery captured by the traffic light detection system are also described.
Claims20
A method, comprising:
- capturing a first image using a sensor coupled to an autonomous vehicle;
- obtaining, using a processing circuit, a location of the autonomous vehicle at the time the first image was captured;
- obtaining, using the processing circuit, a location of a traffic light;
- selecting, using the processing circuit, a first portion of the first image that includes the traffic light based on the obtained location of the traffic light and the obtained location of the autonomous vehicle;
- determining an orientation of a plurality of traffic lights in the first portion of the first image based on a shape of light emanating from each of the plurality traffic lights;
- identifying the traffic light from the plurality of traffic lights based on the determined orientations;
- determining, using the processing circuit, a first state of the identified traffic light based on the first portion of the first image;
- capturing a second image including the traffic light using the sensor;
- selecting a second portion of the second image, wherein a first ratio of a height of the traffic light in the first image to a height of the first portion of the first image is the same as a second ratio of a height of the traffic light in the second image to a height of the second portion of the second image;
- determining, using the processing circuit, a second state of the identified traffic light based on the second portion of the second image;
- and
- operating, by a control circuit, the autonomous vehicle in accordance with the first state and the second state of the identified traffic light.
9 more elements
A non-transitory computer-readable storage medium storing instructions configured to be executed by one or more circuits of an autonomous vehicle that cause the autonomous vehicle to carry out steps that include:
- capturing a first image using a sensor coupled to an autonomous vehicle;
- obtaining, using a processing circuit, a location of the autonomous vehicle at the time the first image was captured;
- obtaining, using the processing circuit, a location of a traffic light;
- selecting, using the processing circuit, a first portion of the first image that includes the traffic light based on the obtained location of the traffic light and the obtained location of the autonomous vehicle;
- determining an orientation of a plurality of traffic lights in the first portion of the first image based on a shape of light emanating from each of the plurality traffic lights;
- identifying the traffic light from the plurality of traffic lights based on the determined orientations;
- determining, using the processing circuit, a first state of the identified traffic light based on the first portion of the first image;
- capturing a second image including the traffic light using the sensor;
- selecting a second portion of the second image, wherein a first ratio of a height of the traffic light in the first image to a height of the first portion of the first image is the same as a second ratio of a height of the traffic light in the second image to a height of the second portion of the second image;
- determining, using the processing circuit, a second state of the identified traffic light based on the second portion of the second image;
- and
- operating, by a control circuit, the autonomous vehicle in accordance with the first state and the second state of the identified traffic light.
9 more elements
An autonomous vehicle, comprising:
- a sensor;
- a processing circuit;
- a control circuit;
- and
- memory storing one or more programs configured to be executed by the circuits of the autonomous vehicle that cause the autonomous vehicle to carry out steps that include:
- capturing a first image using the sensor;
- obtaining, using the processing circuit, a location of the autonomous vehicle at the time the first image was captured;
- obtaining, using the processing circuit, a location of a traffic light;
- selecting, using the processing circuit, a first portion of the first image that includes the traffic light based on the obtained location of the traffic light and the obtained location of the autonomous vehicle;
- determining an orientation of a plurality of traffic lights in the first portion of the first image based on a shape of light emanating from each of the plurality traffic lights;
- identifying the traffic light from the plurality of traffic lights based on the determined orientations;
- determining, using the processing circuit, a first state of the identified traffic light based on the first portion of the first image;
- capturing a second image including the traffic light using the sensor;
- selecting a second portion of the second image, wherein a first ratio of a height of the traffic light in the first image to a height of the first portion of the first image is the same as a second ratio of a height of the traffic light in the second image to a height of the second portion of the second image;
- determining, using the processing circuit, a second state of the identified traffic light based on the second portion of the second image;
- and
- operating, by the control circuit, the autonomous vehicle in accordance with the first state and the second state of the identified traffic light.
14 more elements
Dependencies are inferred from the claim text.