Waymo LLC

Yosuke Higashi

Edward Hsiao

David Yonchar Margines

Maoqing Yao

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.

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Palo Alto, CA, United States of America

Yosuke Higashi