Accurate position determination near exit lanes

• US 9,470,537 B2
• Filed: 10/22/2014
• Issued: 10/18/2016
• Est. Priority Date: 10/22/2014
• Status: Active Grant

• Current Assignee: Audi AG (Volkswagen AG), Volkswagen AG
• Original Assignee: Audi AG (Volkswagen AG), Volkswagen AG
• Inventors: Natarajan, Premkumar, Raghu, Kaushik, Laubinger, Lorenz
• Primary Examiner(s): ANTONUCCI, ANNE MARIE
• Application Number:
  US14/520,804
• Publication Number:
  US 20160116294A1
• Time in Patent Office: 727 Days
• Field of Search: 701/23
• US Class Current: 1/1
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01C 21/34 Route searching; Route guidance

Abstract

An in-vehicle system for determining whether a vehicle has moved off of a main roadway and into an exit lane. A navigation unit determines that an exit is approaching on a first side of the vehicle, and a camera obtains image data regarding lane markings and exit signs in response to a notification that the exit is approaching. An image processor identifies predetermined patterns among the lane markings, including V-shaped patterns or Y-shaped patterns. The system determines that the vehicle has moved into the exit lane in response to an identification of one of the predetermined patterns on a second side of the vehicle opposite the first side of the vehicle. The system may verify its determination based on recognition of an exit sign on the second side of the vehicle.

Claims

1. An in-vehicle system for determining whether a vehicle in an autonomous driving mode has moved off of a main roadway and into an exit lane, the system comprising:

an a navigation unit for determining that an exit is approaching on a side of the main roadway;

a camera for obtaining image data regarding lane markings and exit signs in response to a determination by the navigation unit that the exit is approaching;

an image processor for identifying a predetermined pattern among the lane markings and for determining a side of the vehicle on which the predetermined pattern exists, wherein the predetermined patterns include a Y-shaped configuration of solid line lane markings and a V-shaped configuration of solid line lane markings;

means for determining whether the vehicle has moved into the exit lane based on an assessment of the side of the main roadway on which the exit is approaching and the side of the vehicle on which the predetermined pattern exists; and

means for verifying the determination by recognizing an exit sign and determining a side of the vehicle on which the exit sign exists,

wherein the in-vehicle system issues a warning to a driver of the vehicle and disengages the autonomous driving mode in response to a verified determination that the vehicle has moved into the exit lane.

2. The in-vehicle system of claim 1, wherein the navigation unit determines a new route to a previously selected destination in response to a determination that the vehicle has moved into the exit lane.

3. An in-vehicle system for determining whether a vehicle in an autonomous driving mode has moved off of a main roadway and into an exit lane, the system comprising:

a communication link on which an indication that the vehicle is approaching an exit is received;

a detector that captures data regarding lane markings on the roadway; and

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;

identify predetermined patterns among the lane markings on the roadway;

determine whether the vehicle has moved into the exit lane based on an identification of one of the predetermined patterns, and

verify the determination by recognizing an indication that the vehicle is approaching an exit,

wherein the in-vehicle system issues a warning to a driver of the vehicle and disengages the autonomous driving mode in response to a verified determination that the vehicle has moved into the exit lane.

4. The in-vehicle system of claim 3, wherein

the detector is configured to capture data regarding exit signs, and

the computer code, when executed on the processor, causes the in-vehicle system to verify a determination that the vehicle has moved into the exit lane based on an identification of an exit sign.

5. The in-vehicle system of claim 3, wherein the computer code, when executed on the processor, causes the in-vehicle system to recognize the indication that the vehicle is approaching an exit by:

determining that the vehicle is approaching an exit on a right side of the main roadway; and

determining that the vehicle has moved into the exit lane in response to an identification of one of the predetermined patterns on a left side of the vehicle.

6. The in-vehicle system of claim 3, wherein the communication link is communicatively coupled to an in-vehicle navigation system.

7. The method of claim 6, wherein the in-vehicle navigation system is configured to reroute directional guidance to a driver of the vehicle in response to a determination that the vehicle has moved into the exit lane.

8. The in-vehicle system of claim 3, wherein the computer code, when executed on the processor, causes the in-vehicle system to identify occurrences of

a first predetermined pattern consisting of a single solid line that branches into two divergent solid lines, and

a second predetermined pattern consisting of two divergent solid lines.

9. The in-vehicle system of claim 8, wherein the first predetermined pattern is Y-shaped, and the second predetermined pattern is V-shaped.

10. A method for determining whether a vehicle in an autonomous driving mode has moved off of a main roadway and into an exit lane, the method comprising:

determining that the vehicle is approaching an exit;

capturing data regarding lane markings on the roadway;

identifying predetermined patterns among the lane markings on the roadway;

determining whether the vehicle has moved into the exit lane based on an identification of one of the predetermined patterns; and

verifying the determination by recognizing an indication that the vehicle is approaching an exit,

wherein the vehicle issues a warning to a driver of the vehicle and disengaging the autonomous driving mode in response to a determination that the vehicle has moved into the exit lane.

11. The method of claim 10, further comprising:

determining that the vehicle is approaching an exit on a right side of the main roadway; and

determining that the vehicle has moved into the exit lane in response to an identification of one of the predetermined patterns on a left side of the vehicle.

12. The method of claim 11, wherein the recognition of the indication that the vehicle is approaching an exit is based on:

identifying an exit sign; and

verifying a determination that the vehicle has moved into the exit lane in response to an identification of the exit sign.

13. The method of claim 12, comprising capturing the data regarding lane markings on the roadway after receiving an indication from a navigation unit that the vehicle is a predetermined distance away from an exit.

14. The method of claim 10, further comprising:

identifying a directional arrow on an exit sign; and

determining a side of the vehicle on which the exit lane is departing based on a direction in which the directional arrow is pointing.

15. The method of claim 10, wherein the predetermined patterns include a first predetermined pattern consisting of a single solid line that branches into two divergent solid lines, and a second predetermined pattern consisting of two divergent solid lines.

16. The method of claim 15, wherein the first predetermined pattern is Y-shaped, and the second predetermined pattern is V-shaped.

17. The method of claim 10, further comprising rerouting directional guidance to a driver of the vehicle in response to a determination that the vehicle has moved into the exit lane.

18. An in-vehicle system for determining whether a vehicle in an autonomous driving mode has moved off of a main roadway and into an exit lane, the system comprising:

a navigation unit for determining that an exit is approaching on a side of the main roadway;

a camera for obtaining image data regarding lane markings and exit signs in response to a determination by the navigation unit that the exit is approaching;

an image processor for identifying a predetermined pattern among the lane markings and for determining a side of the vehicle on which the predetermined pattern exists, wherein the predetermined patterns include a Y-shaped configuration of solid line lane markings and a V-shaped configuration of solid line lane markings; and

an autonomous driving system that determines whether the vehicle has moved into the exit lane based on an assessment of the side of the main roadway on which the exit is approaching and the side of the vehicle on which the predetermined pattern exists,

wherein the autonomous driving system verifies the determination by recognizing an exit sign and determining a side of the vehicle on which the exit sign exists, and

wherein the in-vehicle system issues a warning to the driver and disengages the autonomous driving system in response to a determination that the vehicle has moved into the exit lane.

19. The in-vehicle system of claim 18, wherein the navigation unit determines a new route to a previously selected destination in response to a determination that the vehicle has moved into the exit lane.