US 11,866,068 B2
Detecting and responding to malfunctioning traffic signals for autonomous vehicles
David Silver, San Carlos, CA (US); Carl Kershaw, San Francisco, CA (US); Jonathan Hsiao, Palo Alto, CA (US); and Edward Hsiao, Sunnyvale, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jun. 19, 2020, as Appl. No. 16/906,594.
Prior Publication US 2021/0397827 A1, Dec. 23, 2021
Int. Cl. B60W 60/00 (2020.01); G08G 1/095 (2006.01); G06V 40/10 (2022.01); G06V 20/58 (2022.01); G06F 18/24 (2023.01)
CPC B60W 60/0015 (2020.02) [B60W 60/0025 (2020.02); G06F 18/24 (2023.01); G06V 20/584 (2022.01); G06V 40/10 (2022.01); G08G 1/095 (2013.01); B60W 2554/408 (2020.02); B60W 2554/4029 (2020.02)] 21 Claims
OG exemplary drawing
 
1. A method of controlling a vehicle traveling along a route to a destination in an autonomous driving mode, the method comprising:
receiving, by one or more processors, information identifying a detected state of a traffic signal for an intersection;
detecting, by the one or more processors, an anomaly for the traffic signal based on the detected state and prestored information about expected states of the traffic signal;
identifying, by the one or more processors, a classification of the detected anomaly from one of a plurality of different classifications of anomaly types and a probability of the classification; and
controlling, by the one or more processors, the vehicle to make forward progress towards the destination in the autonomous driving mode based on the classification of the detected anomaly.