US 12,608,954 B1 · Validating traffic light signals through supportive vote

Abstract

Techniques are described herein for determining an active traffic light signal. The techniques involve, determining active signals for first and second traffic light heads of a group of traffic light heads, wherein members of the group of traffic light heads share an active signal at a point in time. A first vote is allocated for the active signal for the first traffic light head indicating a signal state of the first traffic light head and a second vote is allocated for the active signal for the second traffic light head indicating a signal state of the second traffic light head. A signal indicated by the group of traffic light heads is determined based at least in part on the first and second votes.

Claims18

Dependent claims

An autonomous vehicle comprising:

a camera configured to generate one or more images of a group of traffic light heads in the vicinity of the autonomous vehicle, wherein members of the group of traffic light heads share an active signal at a point in time;
and
one or more processors configured to:
determine an active signal for each traffic light head of the group of traffic light heads;
allocate a vote for each traffic light head based on the determined active signal of the traffic light head, the vote indicating a signal of the traffic light head which is determined to be active;
determine a rate equal to a number of votes for a particular signal divided by the total number of traffic light heads in the group of traffic light heads on which the particular signal is displayable;
determine that the particular signal of the group of traffic light heads is active based on the rate;
and
control the autonomous vehicle based at least in part on the particular signal of the group of traffic light heads that is determined to be active.

6 more elements

A computer-implemented method comprising:

determining an active signal for a first traffic light head of a group of traffic light heads, wherein members of the group of traffic light heads share an active signal at a point in time;
determining an active signal for a second traffic light head of the group of traffic light heads;
allocating a first vote for the active signal for the first traffic light head indicating a signal state of the first traffic light head, the first vote indicating a single signal of the first traffic light head;
allocating a second vote for the active signal for the second traffic light head indicating a signal state of the second traffic light head, the second vote indicating a single signal of the second traffic light head;
calculating a rate based on a number of votes for a particular signal divided by the total number of traffic light heads in the group of traffic light heads on which the particular signal is displayable;
determining a signal indicated by the group of traffic light heads to be active based at least in part on the calculated rate;
and
controlling a vehicle based at least in part on the signal determined to be active.

5 more elements

One or more non-transitory computer-readable media storing instructions executable by one or more processors, wherein the instructions, when executed, cause the one or more processors to perform operations comprising:

determining an active signal for a first traffic light head of a group of traffic light heads, wherein members of the group of traffic light heads share an active signal at a point in time;
determining an active signal for a second traffic light head of the group of traffic light heads;
allocating a first vote for the active signal for the first traffic light head indicating a signal state of the first traffic light head, the first vote indicating a single signal of the first traffic light head;
allocating a second vote for the active signal for the second traffic light head indicating a signal state of the second traffic light head, the second vote indicating a single signal of the second traffic light head;
calculating a rate based on a number of votes for a particular signal divided by the total number of traffic light heads in the group of traffic light heads on which the particular signal is displayable;
determining a signal indicated by the group of traffic light heads to be active based at least in part on the calculated rate;
and
controlling a vehicle based at least in part on the signal determined to be active.

5 more elements

Dependencies are inferred from the claim text.

Validating traffic light signals through supportive vote

Life of this patent

Validating traffic light signals through supportive vote

Life of this patent

Abstract

Claims18