Entry detection apparatus and entry detection method

• US 9,835,468 B2
• Filed: 05/27/2016
• Issued: 12/05/2017
• Est. Priority Date: 05/29/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Yoshitomi, Naoto, Hu, Jian, Satomura, Shota, Fujimaki, Yusuke
• Primary Examiner(s): Tweel, Jr., John A
• Application Number:
  US15/166,639
• Publication Number:
  US 20160349072A1
• Time in Patent Office: 557 Days
• Field of Search: 340928
• CPC Class Codes: G01C 21/3602 Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
• CPC Class Codes: G01C 21/3626 Details of the output of route guidance instructions traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968

Abstract

An entry detection apparatus includes a position detection unit that detects presence of an entry prohibited road ahead of a vehicle based on a position of the vehicle and map data including information showing, for each road section, whether the road section is an entry prohibited road section, a sign detection unit that detects whether or not a pair of no-entry signs are present on both sides of a running course of the vehicle based on an image captured by an image sensor mounted on the vehicle, and determines whether or not the vehicle has passed between the no-entry signs, and an entry determination unit that determines that the vehicle has entered the entry prohibited road if the position detection unit detects presence of the entry prohibited road, and the sign detection unit determines that the vehicle has passed between the no-entry signs.

Claims

1. An entry detection apparatus comprising:

a position detection unit that detects presence of an entry prohibited road ahead of a vehicle based on a position of the vehicle and map data including information showing, for each road section, whether the road section is an entry prohibited road section;

a sign detection unit that detects whether or not a pair of no-entry signs are present on opposite sides of a running course of the vehicle based on an image captured by an image sensor mounted on the vehicle, and determines whether or not the vehicle has passed between the no-entry signs; and

an entry determination unit that determines that the vehicle has entered the entry prohibited road if the position detection unit detects presence of the entry prohibited road, and the sign detection unit determines that the vehicle has passed between the no-entry signs,

wherein the map data includes link information identifying each road section, the link information including information showing, for each road section, whether the road section is an entry prohibited road section,

wherein the link information includes, for each road section, information showing whether a ramp is connected thereto, and the position detection unit determines that an entry prohibited road is present ahead of the vehicle if the link information shows that a current road section in which the vehicle is running includes entry prohibition information, and is connected to a ramp, and

wherein the position detection unit determines that the entry prohibited road is present ahead of the vehicle on condition that a distance from the vehicle to a connection part between the current link and a following link is smaller than a predetermined value.

2. The entry detection apparatus according to claim 1, wherein the sign detection unit determines that the vehicle has passed between the no-entry signs upon detecting a change from a state in which the no-entry signs are present in the image to a state in which the no-entry signs are not present in the image.

3. The entry detection apparatus according to claim 2, wherein the sign detection unit determines that the vehicle has passed between the no-entry signs upon detecting that the no-entry signs have gone out of the image from a left edge and a right edge of the image, respectively.

4. The entry detection apparatus according to claim 1, wherein the sign detection unit determines whether or not the vehicle has passed between the no-entry signs on condition that an interval between the no-entry signs is smaller than 10 meters.

5. An entry detection apparatus comprising:

position detection unit that detects presence of an entry prohibited road ahead of a vehicle based on a position of the vehicle and map data, including information showing, for each road section, whether the road section is an entry prohibited road section;

a sign detection unit that detects whether or not a pair of no-entry signs are present on opposite sides of a running course of the vehicle based on an image captured by an image sensor mounted on the vehicle, and determines whether or not the vehicle has passed between the no-entry signs; and

an entry determination unit that determines that the vehicle has entered the entry prohibited road if the position detection unit detects presence of the entry prohibited road, and the sign detection unit determines that the vehicle has passed between the no-entry signs,

wherein the map data includes link information identifying each road section, the link information including information showing, for each road section, whether the road section is an entry prohibited road section,

wherein the link information includes, for each road section, information showing whether a service area is connected thereto, and the position detection unit determines that an entry prohibited road is present ahead of the vehicle if the link information shows that a current road section in which the vehicle is running includes entry prohibition information, and is connected to a service area.

6. The entry detection apparatus according to claim 5, wherein the position detection unit determines that the entry prohibited road is present ahead of the vehicle on condition that a distance from the vehicle to a connection part between the current link and a following link is smaller than a predetermined value.

7. The entry detection apparatus according to claim 5, wherein the sign detection unit determines that the vehicle has passed between the no-entry signs upon detecting a change from a state in which the no-entry signs are present in the image to a state in which the no-entry signs are not present in the image.

8. The entry detection apparatus according to claim 7, wherein the sign detection unit determines that the vehicle has passed between the no-entry signs upon detecting that the no-entry signs have gone out of the image from a left edge and a right edge of the image, respectively.

9. The entry detection apparatus according to claim 5, wherein the sign detection unit determines whether or not the vehicle has passed between the no-entry signs on condition that an interval between the no-entry signs is smaller than 10 meters.