Real-time road flare detection using templates and appropriate color spaces

A non-transitory computer readable medium having stored thereon instructions that, when executed by a computing device of a vehicle, cause the computing device to perform functions comprising:

• receiving an image of an environment of the vehicle, wherein the image includes a plurality of pixels having respective red color values, green color values, and blue color values;
• identifying given pixels in the plurality of pixels having one or more of:
• (i) a red color value greater than a green color value, and (ii) the red color value greater than a blue color value;
• making a comparison between one or more characteristics of a shape of an object represented by the given pixels in the image and corresponding one or more characteristics of a predetermined shape of a road flare;
• determining one or more motion characteristics of the object represented by the given pixels;
• determining a likelihood that the object represents the road flare based at least on (i) the comparison, and (ii) the one or more motion characteristics of the object, such that the likelihood is increased when the one or more motion characteristics indicate that the object remains stationary;
• modifying a control strategy associated with a driving behavior of the vehicle, based on the likelihood;
• and
• providing instructions to control the vehicle based on the modified control strategy.

A system, comprising:

• at least one processor;
• and
• data storage comprising instructions that, when executed by the at least one processor, cause the system to perform functions comprising:
• receiving an image of an environment of a vehicle, wherein the image includes a plurality of pixels having respective red color values, green color values, and blue color values;
• identifying given pixels in the plurality of pixels having one or more of:
• (i) a red color value greater than a green color value, and (ii) the red color value greater than a blue color value;
• making a comparison between one or more characteristics of a shape of an object represented by the given pixels in the image and corresponding one or more characteristics of a predetermined shape of a road flare;
• determining one or more motion characteristics of the object represented by the given pixels;
• determining a likelihood that the object represents the road flare based at least on (i) the comparison, and (ii) the one or more motion characteristics of the object, such that the likelihood is increased when the one or more motion characteristics indicate that the object remains stationary;
• modifying a control strategy associated with a driving behavior of the vehicle, based on the likelihood;
• and
• providing instructions to control the vehicle based on the modified control strategy.