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 |
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.
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