Detecting and responding to processions for autonomous vehicles
AssigneeWaymo LLC
InventorsDavid Harrison Silver, Qichi Yang
Life of this patent
Estimating the term…
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.
Claims20
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 pass through an intersection without stopping for a red light of a traffic light signal light located at the intersection;
- and
- controlling, by the one or more processors, the vehicle autonomously based on the determined number of objects.
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 pass through an intersection without stopping for a stop sign located at the intersection;
- and
- controlling, by the one or more processors, the vehicle autonomously based on the determined number of objects.
The method of chum 13, wherein the cumulative value increases as the number of objects increases.
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 pass through an intersection without stopping for a red light of a traffic light signal light or a stop sign located at the intersection;
- determining, by the one or more processors based on the number of objects, whether the objects are likely to be part of a procession;
- and
- when the objects are determined to be part of the procession, controlling, by the one or more processors, the vehicle autonomously to yield to the objects.
Dependencies are inferred from the claim text.