US 12,249,161 B2
Vehicle taillight recognition based on a velocity estimation
Kuan-Hui Lee, San Jose, CA (US); Charles Christopher Ochoa, San Francisco, CA (US); Arjun Bhargava, San Francisco, CA (US); and Chao Fang, Sunnyvale, CA (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed on Apr. 28, 2022, as Appl. No. 17/732,401.
Prior Publication US 2023/0351774 A1, Nov. 2, 2023
Int. Cl. G06V 20/58 (2022.01); B60W 30/09 (2012.01); G06V 10/25 (2022.01); G06V 10/82 (2022.01); G06V 20/70 (2022.01); G08G 1/052 (2006.01); G08G 1/16 (2006.01); B60W 60/00 (2020.01)
CPC G06V 20/584 (2022.01) [B60W 30/09 (2013.01); G06V 10/25 (2022.01); G06V 10/82 (2022.01); G06V 20/70 (2022.01); G08G 1/052 (2013.01); G08G 1/166 (2013.01); B60W 60/001 (2020.02); B60W 2420/403 (2013.01); B60W 2420/408 (2024.01); B60W 2554/4042 (2020.02); B60W 2554/4045 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method for controlling an ego vehicle in an environment, comprising:
associating, by a velocity model of a taillight recognition system associated with the ego vehicle, a vehicle within the environment with a velocity instance label, the velocity instance label indicating a speed and direction of the vehicle;
selectively focusing, by a recurrent network of the taillight recognition system, on a first region of a sequence of images according to a spatial attention model for a vehicle taillight recognition task, the first region corresponding to a taillight of the vehicle;
concatenating, at the taillight recognition system, the first region with the velocity instance label of the vehicle to generate a concatenated region label, such that the velocity instance label is associated with the taillight of the vehicle;
inferring, at a classifier of the taillight recognition system, an intent of the vehicle according to a taillight state of the vehicle and the concatenated region label; and
planning a trajectory of the ego vehicle based on inferring the intent of the vehicle.