Driving assistance device and driving assistance method

• US 9,994,227 B2
• Filed: 05/27/2016
• Issued: 06/12/2018
• 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): Antonucci, Anne M
• Assistant Examiner(s): Taveras, Kenny A.
• Application Number:
  US15/166,663
• Publication Number:
  US 20160347324A1
• Time in Patent Office: 746 Days
• CPC Class Codes: B60K 2360/166 Navigation
• CPC Class Codes: B60K 2360/168 Target or limit values
• CPC Class Codes: B60K 2360/186 Displaying information according to relevancy
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60K 35/29 Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention

Abstract

An ECU as a driving assistance device has a traffic sign detection section, a lane entry detection section and a judgment section. The traffic sign detection section detects traffic signs including a speed limit symbol based on front-image data captured by an in-vehicle camera. The lane entry detection section detects that the own vehicle has entered a ramp lane to leave a highway. The judgment section detects an extent of a current driving lane as the ramp lane when following conditions (c1) and (c2) are satisfied after the lane entry detection section detects the entry of the own vehicle into the ramp lane: (c1) not less than two traffic signs are arranged along the current driving lane in forward direction of the vehicle; and (c2) an arrangement of speed limit symbols included in the detected traffic signs satisfy a predetermined speed reduction pattern.

Claims

1. A computer system including a central processing unit, the computer system being configured to provide a driving assistance device comprising:

a traffic sign detection section capable of detecting traffic signs including at least a speed limit symbol on a basis of front image data captured by an in-vehicle camera mounted on an own vehicle,

a lane entry detection section capable of detecting that the own vehicle is entering a connection lane through which the own vehicle leaves a highway; and

a judgment section capable of determining that a current driving lane, on which the own vehicle travels, is the connection lane when a first condition, a second condition and a third condition are satisfied after the lane entry detection section has detected the entry of the own vehicle into the connection lane, where

the first condition indicates that the traffic sign detection section detects not less than two traffic signs arranged along the current driving lane in a forward direction of the own vehicle, the second condition indicates that a speed reduction pattern indicated by speed limit symbols included in the traffic signs detected by the traffic sign detection section in the forward direction of the own vehicle satisfies a predetermined speed reduction pattern, and the third condition indicates that a distance between the traffic signs detected by the traffic sign detection section in the forward direction of the own vehicle satisfies a predetermined distance.

2. The driving assistance device according to claim 1, wherein

the judgment section detects an end place of the connection lane, when the speed reduction pattern indicated by the speed limit symbols included in the traffic sign detected by the traffic sign detection section in the forward direction of the own vehicle is different from the predetermined speed reduction pattern, or when a distance between the detected traffic signs adjacent to each other is wider than a predetermined distance, and

the judgment section detects the extent of the connection lane as being from a place of entrance of the connection lane detected by the lane entry detection section to the end place of the connection lane.

3. The driving assistance device according to claim 2, further comprising:

a notification control section capable of notifying, to the driver of the own vehicle through a notification unit, information regarding that the own vehicle now travels on the connection lane and a speed limit value corresponding to the speed limit symbol included in the detected traffic sign at a current location of the own vehicle when the own vehicle travels on the connection lane detected by the judgment section.

4. The driving assistance device according to claim 3, wherein the judgment section uses the predetermined speed reduction pattern which indicates that the speed limit symbols included in the detected traffic signs have different speed limit values to each other, and being reduced in the forward direction of the own vehicle.

5. The driving assistance device according to claim 3, further comprising:

a distance detection section capable of detecting a distance in a width direction of the own vehicle between the own vehicle and the detected traffic sign, which includes an exit symbol and the speed limit symbol, the exit symbol providing for the own vehicle to leave the highway and enter the connection lane; and

a driver'"'"'s intention detection section capable of detecting a driver'"'"'s intention for the own vehicle to change the current driving lane,

wherein the lane entry detection section detects that the own vehicle has entered the connection lane when;

the traffic sign detection section has detected the traffic sign including the exit symbol and the speed limit symbol;

the distance detected by the distance detection section is narrower than a predetermined distance; and

the direction of the own vehicle when changing the current driving lane detected by the driver'"'"'s intention detection section is equal to the direction of the traffic sign including the exit symbol and the speed limit symbol.

6. The driving assistance device according to claim 2, wherein the judgment section uses the predetermined speed reduction pattern which indicates that the speed limit symbols included in the detected traffic signs have different speed limit values to each other, and being reduced in the forward direction of the own vehicle.

7. The driving assistance device according to claim 2, further comprising:

a distance detection section capable of detecting a distance in a width direction of the own vehicle between the own vehicle and the detected traffic sign, which includes an exit symbol and the speed limit symbol, the exit symbol providing for the own vehicle to leave the highway and enter the connection lane; and

a driver'"'"'s intention detection section capable of detecting a driver'"'"'s intention for the own vehicle to change the current driving lane,

wherein the lane entry detection section detects that the own vehicle has entered the connection lane when;

the traffic sign detection section has detected the traffic sign including the exit symbol and the speed limit symbol;

the distance detected by the distance detection section is narrower than a predetermined distance; and

the direction of the own vehicle when changing the current driving lane detected by the driver'"'"'s intention detection section is equal to the direction of the traffic sign including the exit symbol and the speed limit symbol.

8. The driving assistance device according to claim 1, further comprising:

a notification control section capable of notifying, to the driver of the own vehicle through a notification unit, information regarding that the own vehicle now travels on the connection lane and a speed limit value corresponding to the speed limit symbol included in the detected traffic sign at a current location of the own vehicle when the own vehicle travels on the connection lane detected by the judgment section.

9. The driving assistance device according to claim 8, wherein the judgment section uses the predetermined speed reduction pattern which indicates that the speed limit symbols included in the detected traffic signs have different speed limit values to each other, and being reduced in the forward direction of the own vehicle.

10. The driving assistance device according to claim 8, further comprising:

a distance detection section capable of detecting a distance in a width direction of the own vehicle between the own vehicle and the detected traffic sign, which includes an exit symbol and the speed limit symbol, the exit symbol providing for the own vehicle to leave the highway and enter the connection lane; and

a driver'"'"'s intention detection section capable of detecting a driver'"'"'s intention for the own vehicle to change the current driving lane,

wherein the lane entry detection section detects that the own vehicle has entered the connection lane when;

the traffic sign detection section has detected the traffic sign including the exit symbol and the speed limit symbol;

the distance detected by the distance detection section is narrower than a predetermined distance; and

the direction of the own vehicle when changing the current driving lane detected by the driver'"'"'s intention detection section is equal to the direction of the traffic sign including the exit symbol and the speed limit symbol.

11. The driving assistance device according to claim 1, wherein the judgment section uses the predetermined speed reduction pattern which indicates that the speed limit symbols included in the detected traffic signs have different speed limit values to each other, and being reduced in the forward direction of the own vehicle.

12. The driving assistance device according to claim 1, further comprising:

a distance detection section capable of detecting a distance in a width direction of the own vehicle between the own vehicle and the detected traffic sign, which includes an exit symbol and the speed limit symbol, the exit symbol providing for the own vehicle to leave the highway and enter the connection lane; and

a driver'"'"'s intention detection section capable of detecting a driver'"'"'s intention for the own vehicle to change the current driving lane,

wherein the lane entry detection section detects that the own vehicle has entered the connection lane when;

the traffic sign detection section has detected the traffic sign including the exit symbol and the speed limit symbol;

the distance detected by the distance detection section is narrower than a predetermined distance; and

the direction of the own vehicle when changing the current driving lane detected by the driver'"'"'s intention detection section is equal to the direction of the traffic sign including the exit symbol and the speed limit symbol.

13. A computer implemented driving assistance method performed by a driving assistance device mounted on an own vehicle, comprising steps of:

using a central processing unit (CPU), detecting traffic signs including a speed limit symbol on a basis of front image data captured by an in-vehicle camera mounted on an own vehicle;

using the CPU, detecting that the own vehicle enters a connection lane, through which the own vehicle leaves a highway; and

using the CPU, detecting that a current driving lane, on which the own vehicle travels, is the connection lane as a ramp lane when a first condition, a second condition, and a third condition are satisfied after the entry of the own vehicle into the connection lane has been detected, where the first condition indicates that not less than two traffic signs arranged along the current driving lane in forward direction of the own vehicle are detected, the second condition indicates that an arrangement of speed limit symbols included in the detected traffic signs in the forward direction of the own vehicle satisfies a predetermined speed reduction pattern, and the third condition indicates that a distance between the detected traffic signs in the forward direction of the own vehicle satisfies a predetermined distance.