Detecting and Responding to Malfunctioning Traffic Lights For Autonomous Vehicles
AssigneeWaymo LLC
InventorsDavid Silver, Carl Kershaw, Jonathan Hsiao, Edward Hsiao
Life of this patent
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Abstract
Aspects of the disclosure relate to detecting and responding to malfunctioning traffic signals for a vehicle having an autonomous driving mode. For instance, information identifying a detected state of a traffic signal for an intersection. An anomaly for the traffic signal may be detected based on the detected state and prestored information about expected states of the traffic signal. The vehicle may be controlled in the autonomous driving mode based on the detected anomaly.
Claims20
A method comprising:
- determining, by one or more processors of a vehicle, when the vehicle is within a threshold distance of a traffic signal for an intersection where a state of the traffic signal should be detected by the vehicle;
- when the vehicle is within the threshold distance of the traffic signal and the state of the traffic signal is not detected, determine, by the one or more processors, that an anomaly exists for the traffic signal;
- identifying, by the one or more processors, a classification of the anomaly from one of a plurality of different classifications of anomaly types;
- and
- controlling, by the one or more processors, the vehicle in an autonomous driving mode based on the classification of the anomaly.
A system comprising one or more processors configured to:
- determine when a vehicle is within a threshold distance of a traffic signal for an intersection where a state of the traffic signal should be detected by the vehicle;
- when the vehicle is within the threshold distance of the traffic signal and the state of the traffic signal is not detected, determine that an anomaly exists for the traffic signal;
- identify a classification of the anomaly from one of a plurality of different classifications of anomaly types;
- and
- control the vehicle in an autonomous driving mode based on the classification of the anomaly.
A non-transitory, computer readable medium on which instructions are stored, the instructions, when executed by one or more processors, cause the one or more processors to perform a method, the method comprising:
- determining when a vehicle is within a threshold distance of a traffic signal for an intersection where a state of the traffic signal should be detected by the vehicle;
- when the vehicle is within the threshold distance of the traffic signal and the state of the traffic signal is not detected, determining that an anomaly exists for the traffic signal;
- identifying a classification of the anomaly from one of a plurality of different classifications of anomaly types;
- and
- controlling the vehicle in an autonomous driving mode based on the classification of the anomaly.
Dependencies are inferred from the claim text.