US 12,472,941 B2
Traffic signal response for autonomous vehicles
Jens-Steffen Ralf Gutmann, Cupertino, CA (US); Andreas Wendel, Mountain View, CA (US); Nathaniel Fairfield, Mountain View, CA (US); Dmitri A. Dolgov, Los Altos, CA (US); and Donald Jason Burnette, Mountain View, CA (US)
Assigned to Waymo LLC, Mountain View, CA (US)
Filed by WAYMO LLC, Mountain View, CA (US)
Filed on Jan. 12, 2024, as Appl. No. 18/411,167.
Application 18/411,167 is a continuation of application No. 17/670,900, filed on Feb. 14, 2022, granted, now 11,970,160.
Application 17/670,900 is a continuation of application No. 16/448,230, filed on Jun. 21, 2019, granted, now 11,279,346, issued on Mar. 22, 2022.
Application 16/448,230 is a continuation of application No. 15/958,365, filed on Apr. 20, 2018, granted, now 10,377,378, issued on Aug. 13, 2019.
Application 15/958,365 is a continuation of application No. 15/618,461, filed on Jun. 9, 2017, granted, now 10,005,460, issued on Jun. 26, 2018.
Application 15/618,461 is a continuation of application No. 14/448,299, filed on Jul. 31, 2014, granted, now 9,707,960, issued on Jul. 18, 2017.
Prior Publication US 2024/0217510 A1, Jul. 4, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G08G 1/0962 (2006.01); B60W 30/09 (2012.01); B60W 30/18 (2012.01); G08G 1/0967 (2006.01)
CPC B60W 30/09 (2013.01) [B60W 30/18154 (2013.01); G08G 1/09623 (2013.01); G08G 1/09626 (2013.01); G08G 1/096725 (2013.01); B60W 2555/60 (2020.02); G08G 1/096783 (2013.01); G08G 1/096791 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
identifying, by one or more processors of a vehicle having an autonomous driving mode, a first time when a state of a traffic signal light associated with a roadway intersection changes from a green light state to a yellow light state;
based on the first time, identifying, by the one or more processors, a second time when the state of the traffic signal light is expected to change from the yellow light state to a red light state;
estimating, by the one or more processors, using a speed characteristic of the vehicle, where the vehicle will be located relative to a threshold location of the roadway intersection when the traffic signal light changes from the yellow light state to the red light state; and
controlling, by the one or more processors, the vehicle to maneuver through the roadway intersection in the autonomous driving mode based on the estimation of where the vehicle will be located relative to the threshold location.