# US 12,459,485 B2 · Methods and systems for reducing vehicle delay based on movement prediction > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,459,485 B2 - Document ID: US12459485B2 - Status: Granted - Kind: B2 - Application number: 18/661,251 - Filed: 2024-05-10 - Published: 2025-02-20 - Granted: 2025-11-04 - Earliest claimed: 2023-08-17 - Assignees: TORC Robotics, Inc. - Applicants: Torc Robotics, Inc. - Inventors: Rikki Valverde; Lorenzo Tarsitano - Web page: https://patentgrep.com/patent/US12459485B2 ## CPC - B60W 10/024: {including control of torque converters} - B60W 30/18154: {Approaching an intersection} - B60W 50/0097: {Predicting future conditions} - B60W 60/00274: {considering possible movement changes} - B60W 2050/0088: {Adaptive recalibration} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2510/0275: Clutch torque - B60W 2554/20: Static objects - B60W 2554/4045: Intention, e.g. lane change or imminent movement - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - B60W 2556/10: Historical data - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A method may include monitoring, by a processor associated with an autonomous vehicle, a status of a traffic light. The method may include monitoring, by the processor, a movement status of at least one vehicle within a same lane as the autonomous vehicle, the at least one vehicle having a stationary position in relation to the traffic light. The method may include executing, by the processor, a computer model to predict a change of movement status for the at least one vehicle in accordance with the status of the traffic light. The method may include in response to the computer model predicting a change of movement status for the at least one vehicle from the stationary position to a moving status, instructing, by the processor, the autonomous vehicle to increase a torque value of the autonomous vehicle at a predetermined time before the change of the movement status. ## Claims ### Claim 1 A system for reducing autonomous vehicle delay, the system comprising: a sensor configured to detect a movement status of at least one vehicle; and a computing device comprising a processor and a non-transitory computer readable storage, the computing device in communication with the sensor, the processor configured to: receive, from the sensor, sensor data representing the movement status of the at least one vehicle; compute a movement prediction for the at least one vehicle based on the sensor data, the movement prediction comprising a predicted movement time for the at least one vehicle; generate a drive-off request corresponding to the predicted movement time; initiate a drive-off request based on the predicted movement time; detect a change in the movement status of the at least one vehicle from the sensor data at the predicted movement time from the sensor data; and initiate an autonomous vehicle movement corresponding to the drive-off request in response to the change in the movement status of the at least one vehicle corresponding to the predicted movement time. ### Claim 2 (depends on 1) The system of claim 1, wherein the sensor comprises at least one of: a camera sensor, a radar sensor, or a LiDAR sensor. ### Claim 3 (depends on 1) The system of claim 1, wherein the processor is further configured to process location data and historical data to compute the movement prediction. ### Claim 4 (depends on 1) The system of claim 1, wherein the processor is further configured, in initiating the autonomous vehicle movement, to engage a powertrain of the autonomous vehicle based on the drive-off request. ### Claim 5 (depends on 4) The system of claim 4, wherein the powertrain comprises a transmission and a brake. ### Claim 6 (depends on 1) The system of claim 1, wherein the processor is further configured to detect a change in a brake light of the at least one vehicle from the sensor data to detect the change in movement status of the at least one vehicle. ### Claim 7 (depends on 1) The system of claim 1, further comprising increasing a torque value at a predetermined time corresponding to the movement prediction. ### Claim 8 An autonomous vehicle comprising, a sensor disposed on the autonomous vehicle configured to detect a movement status of at least one vehicle; a powertrain comprising a transmission and a brake; and a computing device comprising a processor and a non-transitory computer readable storage media in communication with the sensor, the processor configured to: receive, from the sensor, sensor data representing the movement status of the at least one vehicle; compute a movement prediction for the at least one vehicle based on the sensor data; generate a drive-off request corresponding to the movement prediction; engage the transmission of the powertrain based on the drive-off request; detect a change in the movement status of the at least one vehicle; and disengage the brake to initiate a movement of the autonomous vehicle. ### Claim 9 (depends on 8) The autonomous vehicle of claim 8, wherein the sensor comprises at least one of: a camera sensor, a radar sensor, or a LiDAR sensor. ### Claim 10 (depends on 8) The autonomous vehicle of claim 8, wherein the processor is further configured to process location data and historical data to generate the drive-off request. ### Claim 11 (depends on 8) The autonomous vehicle of claim 8, wherein the processor is further configured to increase a torque value of the powertrain to initiate the movement of the autonomous vehicle. ### Claim 12 (depends on 8) The autonomous vehicle of claim 8, further comprising increasing a torque at least 1.5 seconds before the movement of the autonomous vehicle based on the drive-off request. ### Claim 13 (depends on 12) The autonomous vehicle of claim 12, wherein the processor is further configured delay the movement of the autonomous vehicle until the detection of the change in the movement status of the at least one vehicle. ### Claim 14 (depends on 8) The autonomous vehicle of claim 8, wherein the processor is implemented in an electronic control unit. ### Claim 15 A computer-implemented method for reducing autonomous vehicle delay, the method comprising: receiving, from a sensor, sensor data representing a movement status of at least one vehicle; computing a movement prediction for the at least one vehicle based on the sensor data; generating a drive-off request corresponding to the movement prediction; receiving additional sensor data representing the movement status of the at least one vehicle; detecting a change in the movement status of the at least one vehicle from the sensor data corresponding to the movement prediction; and initiating an autonomous vehicle movement corresponding to the drive-off request. ### Claim 16 (depends on 15) The method of claim 15, further comprising receiving sensor data representing a status of a traffic light and processing the sensor data to predict a change of movement status for the at least one vehicle. ### Claim 17 (depends on 15) The method of claim 15, further comprising processing location data and historical data to compute the movement prediction. ### Claim 18 (depends on 15) The method of claim 15, wherein the drive off drive-off request comprises engaging a powertrain of the autonomous vehicle. ### Claim 19 (depends on 18) The method of claim 18, wherein engaging the powertrain comprises engaging a transmission and disengaging a brake on the autonomous vehicle. ### Claim 20 (depends on 19) The method of claim 19, further comprising detecting a change in a brake light of the at least one vehicle from the sensor data to detect the change in the movement status of the at least one vehicle.