US 12,327,415 B2
Use of relationship between activities of different traffic signals in a network to improve traffic signal state estimation
David I. Ferguson, San Francisco, CA (US); and Bradley Templeton, Sunnyvale, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jan. 8, 2024, as Appl. No. 18/406,797.
Application 18/406,797 is a continuation of application No. 18/150,304, filed on Jan. 5, 2023, granted, now 11,900,693.
Application 18/150,304 is a continuation of application No. 17/154,976, filed on Jan. 21, 2021, granted, now 11,568,652, issued on Jan. 23, 2023.
Application 17/154,976 is a continuation of application No. 16/257,735, filed on Jan. 25, 2019, granted, now 10,909,396, issued on Feb. 2, 2021.
Application 16/257,735 is a continuation of application No. 15/839,124, filed on Dec. 12, 2017, granted, now 10,210,408, issued on Feb. 19, 2019.
Application 15/839,124 is a continuation of application No. 15/653,716, filed on Jul. 19, 2017, granted, now 9,875,417, issued on Jan. 23, 2018.
Application 15/653,716 is a continuation of application No. 14/843,705, filed on Sep. 2, 2015, granted, now 9,734,417, issued on Aug. 15, 2017.
Application 14/843,705 is a continuation of application No. 13/622,418, filed on Sep. 19, 2012, granted, now 9,158,980, issued on Oct. 13, 2015.
Prior Publication US 2024/0144698 A1, May 2, 2024
Int. Cl. G06V 20/58 (2022.01); B60W 40/00 (2006.01); G08G 1/00 (2006.01); G08G 1/0962 (2006.01); G08G 1/0967 (2006.01)
CPC G06V 20/584 (2022.01) [B60W 40/00 (2013.01); G08G 1/00 (2013.01); G08G 1/09623 (2013.01); G08G 1/09626 (2013.01); G08G 1/096716 (2013.01); G08G 1/096725 (2013.01); G08G 1/096758 (2013.01); G08G 1/096775 (2013.01); G08G 1/096791 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
receiving, at a computing device coupled to a vehicle, sensor data representing an environment of the vehicle as the vehicle navigates a path;
determining, based on the sensor data, the vehicle is approaching an intersection along the path that includes a traffic signal;
receiving, at the computing device and from an external source, information representing a current state of the traffic signal; and
performing an action based on the current state of the traffic signal.