Early detection of exit only and shared lanes using perception technology

• US 10,025,996 B2
• Filed: 12/22/2014
• Issued: 07/17/2018
• Est. Priority Date: 12/22/2014
• Status: Active Grant

• Current Assignee: Audi AG (Volkswagen AG), Volkswagen AG
• Original Assignee: Audi AG (Volkswagen AG), Volkswagen AG
• Inventors: Raghu, Kaushik, Daraei, Mohammadhossein, Natarajan, Premkumar, Lopez, Norman
• Primary Examiner(s): Duley, Janese
• Application Number:
  US14/579,144
• Publication Number:
  US 20160176341A1
• Time in Patent Office: 1,303 Days
• Field of Search: None
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2555/60 Traffic rules, e.g. speed limits or right of way
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: G06V 10/30 Noise filtering
• CPC Class Codes: G06V 10/56 relating to colour
• CPC Class Codes: G06V 20/582 of traffic signs
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

An in-vehicle system for identifying exit-only lanes and shared exit lanes on a roadway having a first camera for obtaining image data regarding lane markings on the roadway, a second camera for obtaining image data regarding exit signs, a lane marking detection module for detecting lane markings on the roadway, an exit sign detection module for detecting exit signs, and an exit sign analyzer for detecting arrows on the detected exit signs. The in-vehicle system categorizes detected lane markings as one of standard frequency dashed lane markings, high frequency dashed lane markings, and solid lane markings, and identifies an exit-only lane and a shared exit lane in response to the categorizations of the detected lane markings and characteristics of the detected arrows.

Claims

1. An in-vehicle system for identifying lane types on a roadway, the system comprising:

one or more detectors that capture data regarding lane markings on the roadway;

a processor and a non-transitory data storage on which is stored computer code which, when executed on the processor, causes the in-vehicle system to;

categorize the lane markings;

identify an exit-only lane in response to detecting lane markings on a side of a vehicle characteristic of exit-only lanes; and

determine whether the identified exit-only lane is a presently occupied lane or a neighboring lane based on a side of the vehicle on which the characteristic lane markings are detected.

2. The in-vehicle system of claim 1, wherein

the one or more detectors capture data regarding exit signs;

and

the computer code, when executed on the processor, causes the in-vehicle system to detect arrows on the detected exit signs; and

identify a shared exit lane in response to detecting two arrows corresponding to two respective lanes on one of the detected exit signs.

3. The in-vehicle system of claim 2, wherein the computer code, when executed on the processor, causes the in-vehicle system to determine whether the shared exit lane is a presently occupied lane or a neighboring lane.

4. The in-vehicle system of claim 3, further comprising

a system configured to maintain the vehicle in a lane on the roadway without taking an exit, wherein

in response to a determination that the presently occupied lane is a shared exit lane, the computer code, when executed on the processor, causes the system configured to maintain the vehicle in the lane to follow lane markings that stay on the roadway and to ignore lane markings that exit the roadway.

5. The in-vehicle system of claim 1, wherein the computer code, when executed on the processor, causes the in-vehicle system to categorize the lane markings as one of standard frequency dashed lane markings, high frequency dashed lane markings, and solid lane markings.

6. The in-vehicle system of claim 1, wherein the computer code, when executed on the processor, causes the in-vehicle system to:

receive an indication that an exit is approaching on either a left side or a right side of the vehicle;

in response to receiving an indication that an exit is approaching on the right side of the vehicle,

determine that the identified exit-only lane is a neighboring right lane when the characteristic lane markings are detected on the right side of the vehicle, and

determine that the exit-only lane is the presently occupied lane when the characteristic lane markings are detected on the left side of the vehicle; and

in response to receiving an indication that an exit is approaching on a left side of the vehicle,

determine that the exit-only lane is a neighboring left lane when the characteristic lane markings are detected on the left side of the vehicle, and

determine that the exit-only lane is the presently occupied lane when the characteristic lane markings are detected on the right side of the vehicle.

7. The in-vehicle system of claim 1, wherein the computer code, when executed on the processor, causes the in-vehicle system to issue a notification to a driver of the vehicle when the presently occupied lane is identified as the exit-only lane.

8. The in-vehicle system of claim 1, further comprising an autonomous driving system, wherein

the computer code, when executed on the processor, prompts a driver with an option to assume control of the vehicle from the autonomous driving system.

9. The in-vehicle system of claim 1, further comprising a navigation system, wherein

the computer code, when executed on the processor, causes the in-vehicle system to notify the navigation system when the presently occupied lane is identified as the exit-only lane.

10. A method for identifying lane types on a roadway, comprising:

capturing data regarding lane markings on the roadway;

categorizing the lane markings;

identifying an exit-only lane in response to detecting lane markings on a side of a vehicle characteristic of exit-only lanes; and

determining whether the identified exit-only lane is a presently occupied lane or a neighboring lane based on a side of the vehicle on which the characteristic lane markings are detected.

11. The method of claim 10, further comprising

capturing data regarding exit signs;

detecting arrows on the exit signs; and

identifying shared exit lanes in response to detecting two arrows corresponding to two respective lanes on one of the exit signs.

12. The method of claim 11, further comprising

determining that the presently occupied lane is a shared exit lane;

and

maintaining the vehicle on the roadway by

following lane markings that stay on the roadway; and

ignoring lane markings that exit the roadway.