Patent ID: 9195236
Filing Date: 2015-11-24
Classification: B60W,G01C,G05D,G08G

Abstract:
1. A method, comprising: detecting, by computing device configured to control a vehicle, a bright object on a road of travel of the vehicle; receiving, at the computing device, from an image-capture device coupled to the vehicle, an image of the road; selecting, using the computing device, a portion of the image depicting an area within a predetermined threshold distance from a surface of the road proximate to the bright object, wherein the predetermined threshold distance is based on a height that encompasses a typical road flare; determining, using the computing device, based on (a) whether the portion of the image includes the bright object, and (b) one or more characteristics of the bright object, a likelihood that the bright object represents a road flare, wherein the one or more characteristics include at least one of (i) a color spectrum of the bright object, (ii) a brightness level of the bright object, and (iii) whether the bright object is stationary or moving with respect to the road; in response to the likelihood exceeding a predetermined threshold likelihood, identifying a hazardous condition indicated by the road flare and road changes resulting from the hazardous condition indicated by the road flare; modifying, using the computing device, a control strategy associated with a driving behavior of the vehicle, based on the likelihood, the hazardous condition, and the road changes resulting from the hazardous condition; and controlling, using the computing device, the vehicle based on the modified control strategy.