Waymo LLC

Maoqing Yao

Edward Hsiao

Yu Ouyang

David Yonchar Margines

Yosuke Higashi

Aspects of the disclosure relate to controlling a vehicle having an autonomous driving mode. For instance, a current state of a traffic light may be determined. One of a plurality of yellow light durations may be selected based on the current state of the traffic light. When the traffic light will turn red may be predicted based on the selected one. The prediction may be used to control the vehicle in the autonomous driving mode.

Yellow light durations for autonomous vehicles

Machine-learning models are described detecting the signaling state of a traffic signaling unit. A system can obtain an image of the traffic signaling unit, and select a model of the traffic signaling unit that identifies a position of each traffic lighting element on the unit. First and second neural network inputs are processed with a neural network to generate an estimated signaling state of the traffic signaling unit. The first neural network input can represent the image of the traffic signaling unit, and the second neural network input can represent the model of the traffic signaling unit. Using the estimated signaling state of the traffic signaling unit, the system can inform a driving decision of a vehicle.

Growing community of inventors

Newark, CA, United States of America

Maoqing Yao