US 12,134,384 B2
Robust method for detecting traffic signals and their associated states
David I. Ferguson, San Francisco, CA (US); Nathaniel Fairfield, Rockingham, VA (US); and Anthony Levandowski, Palo Alto, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by Waymo LLC, Mountain View, CA (US)
Filed on Jul. 5, 2023, as Appl. No. 18/218,290.
Application 18/218,290 is a continuation of application No. 17/080,724, filed on Oct. 26, 2020, granted, now 11,731,629.
Application 17/080,724 is a continuation of application No. 15/667,015, filed on Aug. 2, 2017, granted, now 10,906,548, issued on Feb. 2, 2021.
Application 15/667,015 is a continuation of application No. 14/831,777, filed on Aug. 20, 2015, granted, now 9,796,386, issued on Oct. 24, 2017.
Application 14/831,777 is a continuation of application No. 13/430,150, filed on Mar. 26, 2012, granted, now 9,145,140, issued on Sep. 29, 2015.
Prior Publication US 2023/0339469 A1, Oct. 26, 2023
Int. Cl. B60W 30/18 (2012.01); G05D 1/00 (2006.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 30/18154 (2013.01) [G05D 1/0088 (2013.01); G05D 1/0231 (2013.01); G06V 20/56 (2022.01); G06V 20/582 (2022.01); G06V 20/584 (2022.01); B60W 2555/60 (2020.02); B60W 2556/20 (2020.02); B60W 2556/50 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method of controlling a vehicle, the method comprising:
determining a state of a traffic signal of a traffic intersection, wherein the vehicle is configured to operate in an autonomous mode;
determining additional information to confirm the state of the traffic signal, wherein determining the additional information comprises at least one of:
(i) requesting more information from a passenger or driver of the vehicle, and
(ii) monitoring behavior of one or more vehicles traveling relative to the traffic intersection;
decreasing a speed of the vehicle while determining the additional information to confirm the state of the traffic signal;
confirming, based on the additional information, the state of the traffic signal; and
controlling the vehicle based on the confirmed state of the traffic signal.