公开(公告)号：US20220009491A1

公开(公告)日：2022-01-13

申请号：US16925466

申请日：2020-07-10

Applicant: Toyota Research Institute, Inc.

Inventor： Yutaka Taruoka ,  Ryan Marcotte ,  Hai Jin ,  Hiroshi Nakamura

IPC: B60W30/18 ,  B60W40/105 ,  B60W40/04

Abstract: Systems and methods for controlling a vehicle with respect to an intersection are disclosed. In one embodiment, a method of controlling a vehicle with respect to an intersection, includes determining a distance of the vehicle with respect to the intersection, wherein the intersection includes a traffic light, determining a velocity of the vehicle, and receiving traffic light state information regarding the traffic light. The method also includes calculating, based on the distance of the vehicle to the intersection, the velocity of the vehicle, and the traffic light state information, a zone of interest with respect to the traffic light. The method further includes manipulating the velocity of the vehicle to modify a size of the zone of interest when a current trajectory of the vehicle will cause the vehicle to enter the zone of interest.

公开(公告)号：US20220097708A1

公开(公告)日：2022-03-31

申请号：US17039156

申请日：2020-09-30

Applicant: Toyota Research Institute, Inc.

Inventor： Hai Jin ,  Shunsho Kaku ,  Yutaka Taruoka ,  Kun-Hsin Chen ,  Peiyan Gong ,  Ryan W. Wolcott

IPC: B60W30/18 ,  H04W4/44 ,  G06K9/00

Abstract: Systems and methods for controlling the operation of an autonomous vehicle are disclosed herein. One embodiment performs traffic light detection at an intersection using a sensor-based traffic light detector to produce a sensor-based detection output, the sensor-based detection output having an associated first confidence level; performs traffic light detection at the intersection using a vehicle-to-infrastructure-based (V2I-based) traffic light detector to produce a V2I-based detection output, the V2I-based detection output having an associated second confidence level; performs one of (1) selecting as a final traffic-light-detection output whichever of the sensor-based detection output and the V2I-based detection output has a higher associated confidence level and (2) generating the final traffic-light-detection output by fusing the sensor-based detection output and the V2I-based detection output using a first learning-based classifier; and controls the operation of the autonomous vehicle based, at least in part, on the final traffic-light-detection output.

公开(公告)号：US11753012B2

公开(公告)日：2023-09-12

申请号：US17039156

申请日：2020-09-30

Applicant: Toyota Research Institute, Inc.

Inventor： Hai Jin ,  Shunsho Kaku ,  Yutaka Taruoka ,  Kun-Hsin Chen ,  Peiyan Gong ,  Ryan W. Wolcott

IPC: B60W30/18 ,  H04W4/44 ,  G06V20/58

CPC classification number: B60W30/18159 ,  G06V20/584 ,  H04W4/44 ,  B60W2556/55

Abstract: Systems and methods for controlling the operation of an autonomous vehicle are disclosed herein. One embodiment performs traffic light detection at an intersection using a sensor-based traffic light detector to produce a sensor-based detection output, the sensor-based detection output having an associated first confidence level; performs traffic light detection at the intersection using a vehicle-to-infrastructure-based (V2I-based) traffic light detector to produce a V2I-based detection output, the V2I-based detection output having an associated second confidence level; performs one of (1) selecting as a final traffic-light-detection output whichever of the sensor-based detection output and the V2I-based detection output has a higher associated confidence level and (2) generating the final traffic-light-detection output by fusing the sensor-based detection output and the V2I-based detection output using a first learning-based classifier; and controls the operation of the autonomous vehicle based, at least in part, on the final traffic-light-detection output.