US 12,444,300 B2
Preemptive maneuvering system for viewing a traffic control device
Kamran Ali, Troy, MI (US); Sayyed Rouhollah Jafari Tafti, Troy, MI (US); and Michael Alan Losh, Rochester Hills, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Mar. 15, 2023, as Appl. No. 18/184,374.
Prior Publication US 2024/0312343 A1, Sep. 19, 2024
Int. Cl. G08G 1/0967 (2006.01); B60W 40/04 (2006.01); B60W 60/00 (2020.01); G08G 1/04 (2006.01)
CPC G08G 1/096725 (2013.01) [B60W 40/04 (2013.01); B60W 60/001 (2020.02); G08G 1/04 (2013.01); B60W 2420/403 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/802 (2020.02); B60W 2754/30 (2020.02)] 18 Claims
OG exemplary drawing
 
1. A preemptive maneuvering system for viewing a status of a traffic control device by one or more cameras of an autonomous vehicle, wherein a moving obstruction is in front of the autonomous vehicle, the preemptive maneuvering system comprising:
one or more controllers executing instructions to:
monitor a current position of the autonomous vehicle until the autonomous vehicle is within a predefined distance from the traffic control device;
in response to determining the autonomous vehicle is within the predefined distance from the traffic control device and the traffic control device is occluded by the moving obstruction, calculate a height of the traffic control device by monitoring image data collected from the one or more cameras before the traffic control device was occluded by the moving obstruction to determine the status of the traffic control device, wherein the height of the traffic control device is determined by:

OG Complex Work Unit Math
wherein dLEAD is a lead distance from the moving obstruction measured as the autonomous vehicle approaches the moving obstruction, dTCD is a distance from the autonomous vehicle to the traffic control device, hLEAD is a height of the moving obstruction, hTCD is the height of the traffic control device, and hCAMERA is a height of the one or more cameras;
continue to monitor the image data until a line-of-sight between the one or more cameras and the traffic control device is occluded by the moving obstruction;
in response to determining the line-of-sight between the one or more cameras and the traffic control device is occluded, calculate a target following distance between the autonomous vehicle and the moving obstruction; and
instruct the autonomous vehicle to execute one or more preemptive maneuvers to position the autonomous vehicle at the target following distance from the moving obstruction.