US 11,860,631 B2
Detecting and responding to processions for autonomous vehicles
David Harrison Silver, San Carlos, CA (US); and Qichi Yang, Foster City, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Nov. 21, 2022, as Appl. No. 17/991,182.
Application 17/991,182 is a continuation of application No. 16/993,672, filed on Aug. 14, 2020, granted, now 11,537,128.
Application 16/993,672 is a continuation of application No. 16/105,233, filed on Aug. 20, 2018, granted, now 10,795,362, issued on Oct. 6, 2020.
Prior Publication US 2023/0141636 A1, May 11, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01); B60W 30/18 (2012.01); G06V 20/58 (2022.01)
CPC G05D 1/0088 (2013.01) [B60W 30/18009 (2013.01); G06V 20/584 (2022.01); B60W 2554/804 (2020.02); B60W 2555/60 (2020.02); G05D 2201/0213 (2013.01)] 20 Claims
OG exemplary drawing
 
1. 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.