Branching and merging determination apparatus

• US 9,916,672 B2
• Filed: 07/01/2015
• Issued: 03/13/2018
• Est. Priority Date: 07/04/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Osanai, Satoshi, Kawasaki, Naoki, Kumano, Syunya
• Primary Examiner(s): Beaulieu, Yonel
• Assistant Examiner(s): WEEKS, MARTIN A
• Application Number:
  US14/789,663
• Publication Number:
  US 20160003628A1
• Time in Patent Office: 986 Days
• 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: G01S 13/931 of land vehicles
• CPC Class Codes: G06T 11/60 Editing figures and text; Combining figures or text
• 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

A branching and merging determination apparatus includes a recognizer and a determiner. The recognizer recognizes a target present in front of an own vehicle. The determiner determines, based on a result of the recognition of the target by the recognizer, presence or absence of branching and merging of roads. Specifically, the determiner is configured to: estimate a traveling section where branching or merging of roads is probably present; and determine that no branching or merging of roads is present in a region of the estimated traveling section where there is a preceding vehicle traveling at a higher speed than the own vehicle.

Claims

1. A branching and merging determination apparatus comprising:

an image extraction unit having a processor that images an environment of an own vehicle and output an imaging result;

a target object recognition unit having a processor that recognizes a target object present in front of an own vehicle, based on the imaging result, and outputs a recognition result; and

a branching or merging road determination unit having a processor that determines, based on the recognition result, a presence or absence of branching or merging of roads,

wherein

the determination unit is configured to;

estimate a traveling section where branching or merging of roads is probably present, and

determine that no branching or merging of roads is present in a region in which there is a preceding vehicle traveling at a higher speed than the own vehicle, the region being a region of the estimated traveling section.

2. The branching and merging determination apparatus as set forth in claim 1, wherein the determination unit estimates a traveling section where there is a dashed line of uneven thickness drawn on a road surface as the traveling section where branching or merging of roads is probably present.

3. The branching and merging determination apparatus as set forth in claim 1, wherein the determination unit estimates a traveling section where a lane boundary line is absent as the traveling section where branching or merging of roads is probably present.

4. The branching and merging determination apparatus as set forth in claim 1, wherein the determination unit estimates, as the traveling section where branching or merging of roads is probably present, a traveling section that extends forward by a predetermined distance from a place where branching or merging of roads is detected.

5. The branching and merging determination apparatus as set forth in claim 1 further comprising an in-vehicle camera configured to capture an image of an environment of the own vehicle, wherein the target object recognition unit recognizes the target present in front of the own vehicle based on the image captured by the in-vehicle camera.

6. The branching and merging determination apparatus as set forth in claim 1 further comprising an in-vehicle radar configured to detect information about an environment of the own vehicle, wherein the target object recognition unit recognizes the target present in front of the own vehicle based on the information detected by the in-vehicle radar.

7. A branching and merging determination apparatus comprising:

an in-vehicle imaging unit having a processor that images an environment of an own vehicle and output an imaging result;

a target object recognition unit having a processor that recognizes a target object present in front of an own vehicle, based on the imaging result, and outputs a recognition result; and

a branching or merging road determination unit having a processor that determines, based on the recognition result, a presence or absence of branching or merging of roads,

wherein

the determination unit is configured to

estimate a traveling section where branching or merging of roads is probably present, and

determine that no branching or merging of roads is present in a region in which there is an oncoming vehicle traveling in a direction opposite to a traveling direction of the own vehicle, the region being a region of the estimated traveling section.

8. The branching and merging determination apparatus as set forth in claim 7, wherein the determination unit estimates a traveling section where there is a dashed line of uneven thickness drawn on a road surface as the traveling section where branching or merging of roads is probably present.

9. The branching and merging determination apparatus as set forth in claim 7, wherein the determination unit estimates a traveling section where a lane boundary line is absent as the traveling section where branching or merging of roads is probably present.

10. The branching and merging determination apparatus as set forth in claim 7, wherein the determination unit estimates, as the traveling section where branching or merging of roads is probably present, a traveling section that extends forward by a predetermined distance from a place where branching or merging of roads is detected.

11. The branching and merging determination apparatus as set forth in claim 7 further comprising an in-vehicle camera configured to capture an image of an environment of the own vehicle, wherein the target object recognition unit recognizes the target present in front of the own vehicle based on the image captured by the in-vehicle camera.

12. The branching and merging determination apparatus as set forth in claim 7 further comprising an in-vehicle radar configured to detect information about an environment of the own vehicle, wherein the target object recognition unit recognizes the target present in front of the own vehicle based on the information detected by the in-vehicle radar.

13. A branching and merging determination apparatus comprising:

an imaging unit having a processor that images an environment of an own vehicle and output an imaging result;

a target object recognition unit having a processor that recognizes a target object present in front of an own vehicle, based on the imaging result, and outputs a recognition result; and

a branching or merging road determination unit having a processor that determines, based on the recognition result, a presence or absence of branching or merging of roads,

wherein

the determination unit is configured to

estimate a traveling section where branching or merging of roads is probably present, and

determine that branching or merging of roads is present in a region in which there is a lane boundary line not parallel to a traveling direction of the own vehicle, the region being a region of the estimated traveling section.

14. The branching and merging determination apparatus as set forth in claim 13, wherein the determination unit estimates a traveling section where there is a dashed line of uneven thickness drawn on a road surface as the traveling section where branching or merging of roads is probably present.

15. The branching and merging determination apparatus as set forth in claim 13, wherein the determination unit estimates a traveling section where a lane boundary line is absent as the traveling section where branching or merging of roads is probably present.

16. The branching and merging determination apparatus as set forth in claim 13, wherein the determination unit estimates, as the traveling section where branching or merging of roads is probably present, a traveling section that extends forward by a predetermined distance from a place where branching or merging of roads is detected.

17. The branching and merging determination apparatus as set forth in claim 13 further comprising an in-vehicle camera configured to capture an image of an environment of the own vehicle, wherein the target object recognition unit recognizes the target present in front of the own vehicle based on the image captured by the in-vehicle camera.

18. The branching and merging determination apparatus as set forth in claim 13 further comprising an in-vehicle radar configured to detect information about an environment of the own vehicle, wherein the target object recognition unit recognizes the target present in front of the own vehicle based on the information detected by the in-vehicle radar.

19. A branching and merging determination apparatus comprising:

an imaging unit having a processor that images an environment of an own vehicle and output an imaging result;

a target object recognition unit having a processor that recognizes a target object present in front of an own vehicle, based on the imaging result, and outputs a recognition result; and

a branching or merging road determination unit having a processor that determines, based on the recognition result, presence or absence of branching or merging of roads,

wherein

the determination unit is configured to

estimate a traveling section where branching or merging of roads is probably present, and

determine that branching of roads is present in a region in which the distance between two adjacent preceding vehicles in a left-right direction is greater than a predetermined value, the region being a region of the estimated traveling section.

20. The branching and merging determination apparatus as set forth in claim 19, wherein the determination unit estimates a traveling section where there is a dashed line of uneven thickness drawn on a road surface as the traveling section where branching or merging of roads is probably present.

21. The branching and merging determination apparatus as set forth in claim 19, wherein the determination unit estimates a traveling section where a lane boundary line is absent as the traveling section where branching or merging of roads is probably present.

22. The branching and merging determination apparatus as set forth in claim 19, wherein the determination unit estimates, as the traveling section where branching or merging of roads is probably present, a traveling section that extends forward by a predetermined distance from a place where branching or merging of roads is detected.

23. The branching and merging determination apparatus as set forth in claim 19 further comprising an in-vehicle camera configured to capture an image of an environment of the own vehicle, wherein the target object recognition unit recognizes the target present in front of the own vehicle based on the image captured by the in-vehicle camera.

24. The branching and merging determination apparatus as set forth in claim 19 further comprising an in-vehicle radar configured to detect information about an environment of the own vehicle, wherein the target object recognition unit recognizes the target present in front of the own vehicle based on the information detected by the in-vehicle radar.

25. A branching and merging determination apparatus comprising:

an imaging unit having a processor that images an environment of an own vehicle and output an imaging result;

a target object recognizer unit having a processor that recognizes a target object present in front of an own vehicle, based on the imaging result, and outputs a recognition result; and

a branching or merging road determination unit having a processor that determines, based on the recognition result, presence or absence of branching or merging of roads,

wherein

the determination unit is configured to

estimate a traveling section where branching or merging of roads is probably present, and

determine that merging of roads is present in a region of the estimated traveling in which the distance between two adjacent preceding vehicles in a left-right direction is less than a predetermined value, the region being a region of the estimated traveling section.

26. The branching and merging determination apparatus as set forth in claim 25, wherein the determination unit estimates a traveling section where there is a dashed line of uneven thickness drawn on a road surface as the traveling section where branching or merging of roads is probably present.

27. The branching and merging determination apparatus as set forth in claim 25, wherein the determination unit estimates a traveling section where a lane boundary line is absent as the traveling section where branching or merging of roads is probably present.

28. The branching and merging determination apparatus as set forth in claim 25, wherein the determination unit estimates, as the traveling section where branching or merging of roads is probably present, a traveling section that extends forward by a predetermined distance from a place where branching or merging of roads is detected.

29. The branching and merging determination apparatus as set forth in claim 25 further comprising an in-vehicle camera configured to capture an image of an environment of the own vehicle, wherein the target object recognition unit recognizes the target present in front of the own vehicle based on the image captured by the in-vehicle camera.

30. The branching and merging determination apparatus as set forth in claim 25 further comprising an in-vehicle radar configured to detect information about an environment of the own vehicle, wherein the target object recognition unit recognizes the target present in front of the own vehicle based on the information detected by the in-vehicle radar.