US 12,319,317 B2
Yellow light durations for autonomous vehicles
Edward Hsiao, Sunnyvale, CA (US); Maoqing Yao, Newark, CA (US); David Margines, Sunnyvale, CA (US); and Yosuke Higashi, Palo Alto, CA (US)
Assigned to WAYMO LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Nov. 8, 2023, as Appl. No. 18/504,729.
Application 18/504,729 is a continuation of application No. 16/915,253, filed on Jun. 29, 2020, granted, now 11,845,469.
Prior Publication US 2024/0075959 A1, Mar. 7, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B60W 60/00 (2020.01); G05D 1/00 (2024.01); G08G 1/095 (2006.01)
CPC B60W 60/0025 (2020.02) [G05D 1/0088 (2013.01); G08G 1/095 (2013.01); B60W 2552/00 (2020.02)] 16 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, by one or more processors of one or more computing devices of a vehicle having an autonomous driving mode, a current state of a traffic light located at an intersection, the current state of the traffic light indicating whether a currently lit light of the traffic light is green, yellow, or red;
when the current state of the traffic light indicates that the currently lit light of the traffic light is green or yellow, selecting, by the one or more processors, a first yellow light duration corresponding to the current state of the traffic light from pre-stored yellow light durations to predict when the traffic light will turn red; and
controlling, by the one or more processors, the vehicle in the autonomous driving mode to stop for the traffic light or proceed through the intersection based on the selected first yellow light duration.