METHODS AND SYSTEMS FOR ELECTRONICALLY ASSISTED LANE ENTRANCE

• US 20170124882A1
• Filed: 10/26/2016
• Published: 05/04/2017
• Est. Priority Date: 10/29/2015
• Status: Active Grant

• Current Assignee: Faraday & Future Inc.
• Original Assignee: Faraday & Future Inc.
• Inventors: Wang, Chongyu
• Granted Patent: US 10,217,363 B2
• Time in Patent Office: Days
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 11/04 Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: G01S 19/42 Determining position
• 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
• CPC Class Codes: G08G 1/015 with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
• CPC Class Codes: G08G 1/09623 Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle G08G1/0967 takes precedence
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Methods and systems for assisted lane entrance are disclosed. In some aspects, a method of assisting movement of a vehicle from one lane to another, includes detecting an entrance to a restricted access lane within a threshold distance in front of the vehicle, determining entrance parameters for the restricted access lane based, at least in part, on a position of the entrance relative to a position of the vehicle, and generating an output signal based on the entrance parameters.

Claims

1. A method of assisting movement of a vehicle from one lane to another, comprising:

detecting, via a lane assistance computer, an entrance to a restricted access lane within a threshold distance in front of the vehicle based, at least in part, on one or more images captured from an imaging sensor;

determining, via the lane assistance computer, entrance parameters for the restricted access lane based, at least in part, on a position of the entrance relative to a position of the vehicle; and

generating, via the lane assistance computer, an output signal based on the entrance parameters.

2. The method of claim 1, further comprising electronically controlling the vehicle to enter the restricted access lane based on the entrance parameters and the output signal.

3. The method of claim 1, further comprising generating an audio or visual alert based on the entrance parameters and the output signal.

4. The method of claim 1, further comprising:

reading input from one or more occupant sensors; and

determining the entrance parameters based at least in part on the input;

5. The method of claim 1, further comprising reading data from a map database indicating a position of the entrance to the restricted access lane, and detecting the entrance to the restricted access based, at least in part, on the data.

6. The method of claim 1, further comprising:

capturing a plurality of images of a scene in front of the vehicle;

determining whether a line on a left side of the vehicle is a dashed line or a solid line based on the plurality of images; and

determining the entrance parameters based on whether the line is dashed or solid.

7. The method of claim 1, further comprising:

capturing an image of a scene in front of the vehicle using the imaging sensor;

detecting a car pool sign within the image;

detecting a position of the entrance based on the car pool sign; and

determining the entrance parameters based on the position of the entrance.

8. The method of claim 7, further comprising:

determining a time restriction of the restricted access lane based on the car pool sign;

determining the entrance parameters based on the time restriction.

9. The method of claim 1, further comprising:

determining a position for an exit for the restricted access lane; and

determining entrance parameters based at least in part on the determined position for the exit.

10. The method of claim 9, further comprising:

determining a destination for the vehicle from a navigation computer; and

determining entrance parameters for the restricted access based at least in part on the determined destination.

11. A vehicle that provides electronic assistance for lane changes, comprising:

a front facing imaging sensor;

a lane assistance computer, operably coupled to the front facing imaging sensor, and configured to;

detect an entrance to a restricted access lane within a threshold distance in front of the vehicle based on images captured by the front facing imaging sensor,

determine entrance parameters for the restricted access lane based, at least in part, on a position of the entrance relative to a position of the vehicle, and

generate an output signal based on the entrance parameters.

12. The vehicle of claim 11, further comprising an occupant sensor, wherein the lane assistance computer is operably coupled to the occupant sensor and configured to read input from the occupant sensor and generate the output signal based on the input.

13. The vehicle of claim 11, further comprising a speaker, wherein the lane assistance computer is configured to generate the output signal as an audio alert using the speaker, wherein the alert is generated based on the entrance parameters.

14. The vehicle of claim 11, further comprising a light, wherein the lane assistance computer is configured to generate the output signal as a visual alert using the light, wherein the visual alert is generated based on the entrance parameters.

15. The vehicle of claim 11, further comprising:

steering gear; and

an electronic steering controller, wherein the lane assistance computer is configured to change a lane of the vehicle by generating the output signal to cause mechanical actuation of the steering gear via the electronic steering controller.

16. The vehicle of claim 11, wherein the lane assistance computer is further configured to read data from a map database indicating a position of the entrance to the restricted access lane, and detecting the entrance to the restricted access based, at least in part, on the data.

17. The vehicle of claim 11, wherein the lane assistance computer is further configured to:

capture a plurality of images of a scene in front of the vehicle using the front facing imaging sensor;

determine whether a line on a left side of the vehicle is a dashed line or a solid line based on the plurality of images; and

determine the entrance parameters based on whether the line is dashed or solid.

18. The vehicle of claim 11, wherein the lane assistance computer is further configured to:

capture an image of a scene in front of the vehicle via the front facing imaging sensor,

detect a car pool sign within the image,

detect a position of the entrance based at least in part on the car pool sign, and

determine the entrance parameters based on the position of the entrance.

19. The vehicle of claim 18, wherein the lane assistance computer is further configured to:

determine a time restriction of the restricted access lane based on the car pool sign, and

determine the entrance parameters based on the time restriction.

20. The vehicle of claim 11, wherein the lane assistance computer is further configured to:

determine a position for an exit for the restricted access lane, and

determine entrance parameters based at least in part on the determined position for the exit.

21. The vehicle of claim 20, wherein the lane assistance computer is further configured to:

determine a destination for the vehicle from a navigation computer, and

determine entrance parameters for the restricted access based at least in part on the determined destination.

22. An apparatus for assisting movement of a vehicle from one lane to another, comprising:

an electronic hardware processor;

an electronic hardware memory, operably coupled to the processor, and storing instructions that configure the electronic hardware processor to;

detect an entrance to a restricted access lane within a threshold distance in front of the vehicle,

determine entrance parameters for the restricted access lane based, at least in part, on a position of the entrance relative to a position of the vehicle, and

generate an output signal based on the entrance parameters.

23. The apparatus of claim 22, wherein the electronic memory stores further instructions that configure the electronic hardware processor to electronically control the vehicle to enter the restricted access lane based on the entrance parameters.

24. The apparatus of claim 22, wherein the electronic memory stores further instructions that configure the electronic hardware processor to generate an audio or visual alert based on the entrance parameters.

25. The apparatus of claim 22, wherein the electronic memory stores further instructions that configure the electronic hardware processor to:

read input from one or more occupant sensors, and

determine the entrance parameters based at least in part on the input;

26. The apparatus of claim 22, wherein the electronic memory stores further instructions that configure the electronic hardware processor to read data from a map database indicating a position of an entrance to the restricted access lane, and detecting the entrance to the restricted access lane based, at least in part, on the data.

27. The apparatus of claim 22, wherein the electronic memory stores further instructions that configure the electronic hardware processor to

capture a plurality of images of a scene in front of the vehicle,

determine whether a line on a left side of the vehicle is a dashed line or a solid line based on the plurality of images, and

determine the entrance parameters based on whether the line is dashed or solid.

28. The apparatus of claim 22, wherein the electronic memory stores further instructions that configure the electronic hardware processor to capture an image of a scene in front of the vehicle,

detect a car pool sign within the image,

detect a position of the entrance based on the car pool sign, and

determine the entrance parameters based on the position of the entrance.

29. The apparatus of claim 28, wherein the electronic memory stores further instructions that configure the electronic hardware processor to determine a time restriction of the restricted access lane based on the car pool sign;

determine the entrance parameters based on the time restriction.

30. The apparatus of claim 22, wherein the electronic memory stores further instructions that configure the electronic hardware processor to

determine a position for an exit for the restricted access lane, and

determine entrance parameters based at least in part on the determined position for the exit.

31. The apparatus of claim 30, wherein the electronic memory stores further instructions that configure the electronic hardware processor to:

determine destination for the vehicle from a navigation computer; and

determine entrance parameters for the restricted access lane based at least in part on the determined destination.

32. An apparatus for assisting movement of a vehicle from one lane to another, comprising:

means for detecting an entrance to a restricted access lane within a threshold distance in front of the vehicle;

means for determining entrance parameters for the restricted access lane based, at least in part, on a position of the entrance relative to a position of the vehicle; and

means for generating an output signal based on the entrance parameters.

33. A computer readable storage medium comprising instructions that when executed cause a processor to perform a method of assisting movement of a vehicle from one lane to another, the method comprising:

detecting an entrance to a restricted access lane within a threshold distance in front of the vehicle;

determining entrance parameters for the restricted access lane based, at least in part, on a position of the entrance relative to a position of the vehicle; and

generating an output signal based on the entrance parameters.

34. The computer readable storage medium of claim 33, the method further comprising electronically controlling the vehicle to enter the restricted access lane based on the entrance parameters.

35. The computer readable storage medium of claim 33, the method further comprising generating an audio or visual alert based on the entrance parameters.

36. The computer readable storage medium of claim 33, further comprising:

reading input from one or more occupant sensors; and

determining the entrance parameters based at least in part on the input;

37. The computer readable storage medium of claim 33, the method further comprising reading data from a map database indicating a position of an entrance to restricted access lane, and detecting the entrance to the restricted access lane based, at least in part, on the data.

38. The computer readable storage medium of claim 33, the method further comprising:

capturing a plurality of images of a scene in front of the vehicle;

determining whether a line on a left side of the vehicle is a dashed line or a solid line based on the plurality of images; and

determining the entrance parameters based on whether the line is dashed or solid.

39. The computer readable storage medium of claim 33, the method further comprising:

capturing an image of a scene in front of the vehicle;

detecting a car pool sign within the image;

detecting a position of the entrance based on the car pool sign; and

determining the entrance parameters based on the position of the entrance.

40. The computer readable storage medium of claim 39, the method further comprising

determining a time restriction of the restricted access lane based on the car pool sign;

determining the entrance parameters based on the time restriction.

41. The computer readable storage medium of claim 33, the method further comprising

determining a position for an exit for the restricted access lane;

and

determining entrance parameters based at least in part on the determined position for the exit.

42. The computer readable storage medium of claim 41, the method further comprising

determining a destination for the vehicle from a navigation computer;

and

determining entrance parameters for the restricted access lane based at least in part on the determined destination.