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:
- receiving, from a first sensor coupled to an autonomous vehicle, a first image including a traffic light, the first sensor having a fixed exposure configuration including first settings that are fixed regardless of an amount of light being absorbed from a first field of view covered by the first sensor;
- receiving, from a second sensor coupled to the autonomous vehicle, a second image, the second sensor having auto-exposure configurations including second settings that are automatically changed based on an amount of light being absorbed from a second field of view covered by the second sensor;
- determining, a state of the traffic light using the first image and the second image;
- and
- causing operation of the autonomous vehicle in accordance with the determined state of the traffic light.
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:
- receiving, from a first sensor coupled to an autonomous vehicle, a first image including a traffic light, the first sensor having a fixed exposure configuration including first settings that are fixed regardless of an amount of light being absorbed from a first field of view covered by the first sensor;
- receiving, from a second sensor coupled to the autonomous vehicle, a second image, the second sensor having auto-exposure configurations including second settings that are automatically changed based on an amount of light being absorbed from a second field of view covered by the second sensor;
- determining, a state of the traffic light using the first image and the second image;
- and
- causing operation of the autonomous vehicle in accordance with the determined state of the traffic light.
An autonomous vehicle, comprising:
- a first sensor having a fixed exposure configuration including first settings that are fixed regardless of an amount of light being absorbed from a first field of view covered by the first sensor;
- a second sensor having an auto-exposure configuration including second settings that are automatically changed based on an amount of light being absorbed from a second field of view covered by the second sensor;
- and
- at least one processor configured to:
- receive, from the first sensor a first image, the first image including a traffic light;
- receive, from the second sensor, a second image;
- determine a state of the traffic light using the first image and the second image;
- and
- cause operation of the autonomous vehicle in accordance with the determined state of the traffic light.
Dependencies are inferred from the claim text.