Method of operating an autonomous vehicle 1300, comprising: receiving a first image from a first sensor 1304 having a fixed exposure configuration; receiving a second image from a second sensor 1302-1 having an auto-exposure configuration; determining a state of a traffic light using the first image and the second image; and operating the autonomous vehicle in accordance with the traffic light state. The sensor exposure settings may comprise shutter speed, aperture, and ISO settings. The first sensor’s exposure may be tuned to the average light emitted by the traffic light thereby offering differentiation from other light sources. The second image allows the data to be supplemented by combining images to form a high dynamic range image or cross-checking the locations of possible traffic lights between the images. Where there is a plurality of lights in the first and second image, the second image may be weighted more heavily than the first image in the determination of the traffic light. Third auto-exposure sensors 1302-1:2 may also be used to determine the state of the traffic light. The second image may be used to identify moving objects.
Systems and methods for traffic light detection
2023-10-18
Patent
Electronic Resource
English
IPC: | G06V / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |