SYSTEM AND METHOD FOR DETECTION OF SURROUNDING VEHICLE LANE DEPARTURE

• US 20170205235A1
• Filed: 01/17/2016
• Published: 07/20/2017
• Est. Priority Date: 01/17/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Vladimerou, Vladimeros
• Granted Patent: US 10,030,978 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/803 Relative lateral speed
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: G01C 21/16 by integrating acceleration or speed, i.e. inertial navigation
• CPC Class Codes: G01C 21/1652 with ranging devices, e.g. LIDAR or RADAR
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras

Abstract

A lane departure detection computing device for a lane departure detection system is described. The computing device includes one or more processors for controlling operation of the computing device, and a memory for storing data and program instructions usable by the one or more processors. The one or more processors are configured to execute instructions stored in the memory to calculate a first path geometry relating to a first vehicle traveling in a first lane, calculate a second path geometry relating to a second vehicle traveling in a second lane different from the first lane, evaluate coextensive portions of the first path and the second path for parallelism, and, if the coextensive portions of the first path and the second path evaluated for parallelism are not parallel, determine that one of the first vehicle and the second vehicle is executing a lane departure.

Claims

1. A lane departure detection computing device comprising:

one or more processors for controlling operation of the computing device, and

a memory for storing data and program instructions usable by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to;

calculate a first path geometry relating to a first vehicle traveling in a first lane;

calculate a second path geometry relating to a second vehicle traveling in a second lane different from the first lane;

evaluate coextensive portions of the first path geometry and the second path geometry for parallelism; and

if the coextensive portions of the first path geometry and the second path geometry evaluated for parallelism are not parallel, determine that one of the first vehicle and the second vehicle is executing a lane departure.

2. The computing device of claim 1 incorporated into a third vehicle.

3. The computing device of claim 2 wherein the one or more processors are configured to execute the instructions stored in the memory when the third vehicle is traveling in one of the first lane and the second lane and behind both the first vehicle and the second vehicle.

4. A lane departure detection system comprising a computing device in accordance with claim 1.

5. The lane departure detection system of claim 4 wherein the computing device is disposed on the first vehicle, and the system further comprises one or more sensors disposed on the first vehicle and in communication with the computing device, the one or more sensors being configured for detecting position and motion information relating to the second vehicle, and wherein the computing device stores additional computer-executable instructions which, when executed by the one or more processors, cause the computing device to calculate the geometry of the second path using position and motion information received from the one or more sensors.

6. The lane departure detection system of claim 4 wherein the computing device is disposed on the first vehicle, and the system further comprises an inertial navigation system disposed on the first vehicle and in communication with the computing device, and wherein the computing device stores additional computer-executable instructions which, when executed by the one or more processors, cause the computing device to calculate the first path geometry using information received from the inertial navigation system.

7. A vehicle including a lane departure detection system in accordance with claim 4.

8. The lane departure detection system of claim 4 wherein the computing device is disposed on the first vehicle, and wherein the computing device stores additional computer-executable instructions which, when executed by the one or more processors, cause the computing device to calculate the geometry of the second path using position and motion information received from a GPS system.

9. The lane departure detection system of claim 4 wherein the computing device is disposed on the first vehicle, and wherein the computing device stores additional computer-executable instructions which, when executed by the one or more processors, cause the computing device to calculate the geometry of the second path using position and motion information received from a roadside device.

10. A roadside device including a lane departure detection computing device in accordance with claim 1.

11. The roadside device of claim 10 further comprising sensors in communication with the computing device and configured to detect position and motion information relating to the first vehicle and the second vehicle.

12. The computing device of claim 1, storing additional computer-executable instructions which, when executed by the one or more processors, cause the computing device to:

calculate a first minimum spacing of the second path from the first path at a first location along the first path;

calculate a second minimum spacing of the second path from the first path at a second location along the first path spaced apart from the first location;

determine a difference between the first minimum spacing and the second minimum spacing; and

if the difference is equal to or greater than a predetermined value, determining that the portions of the first path and the second path residing between the first minimum spacing and the second minimum spacing are not parallel.

13. A computer-implemented method for detecting a lane departure of a vehicle comprising steps of:

calculating a first path geometry relating to a first vehicle traveling in a first lane;

calculating a path geometry relating to a second vehicle traveling in a second lane different from the first lane;

evaluating coextensive portions of the first path and the second path for parallelism;

if the coextensive portions of the first path and the second path evaluated for parallelism are not parallel, determining that one of the first vehicle and the second vehicle is executing a lane departure.

14. The method of claim 13, wherein the step of evaluating coextensive portions of the first path and the second path for parallelism includes the steps of:

calculating a first minimum spacing of the second path from the first path at a first location along the first path;

calculating a second minimum spacing of the second path from the first path at a second location along the first path spaced apart from the first location;

determining a difference between the first minimum spacing and the second minimum spacing; and

if the difference is equal to or greater than a predetermined value, determining that the portions of the first path and the second path residing between the first minimum spacing and the second minimum spacing are not parallel.

15. The method of claim 13 wherein the step of calculating the first path geometries comprises the step of measuring position coordinates of the first vehicle at a rate such that a maximum distance between sensor measurement locations is a predetermined value.

16. The method of claim 13 wherein the step of evaluating coextensive portions of the first path and the second path for parallelism comprises the step of evaluating coextensive portions of the first path and the second path when the first path and the second path are spaced apart at least a minimum predetermined distance.

17. The method of claim 13 wherein the step of evaluating coextensive portions of the first path and the second path for parallelism comprises the step of evaluating coextensive portions of the first path and the second path for parallelism over at least a predetermined length of the first path geometry and the second path geometry.

18. A lane departure detection system comprising:

a computing device including one or more processors for controlling operation of the computing device, and

a memory for storing data and program instructions usable by the one or more processors, wherein the one or more processors are configured to execute instructions stored in the memory to;

calculate a first path geometry relating to a first vehicle traveling in a first lane;

calculate a second path geometry relating to a second vehicle traveling in a second lane different from the first lane;

calculate a first minimum spacing of the second path from the first path at a first location along the first path;

calculate a second minimum spacing of the second path from the first path at a second location along the first path geometry spaced apart from the first location;

determine a difference between the first minimum spacing and the second minimum spacing;

if the difference is equal to or greater than a predetermined value, determining that the portions of the first path and the second path residing between the first minimum spacing and the second minimum spacing are not parallel; and

if the portions of the first path and the second path evaluated for parallelism are not parallel, determine that one of the first vehicle and the second vehicle is executing a lane departure.

19. A vehicle including a lane departure detection system in accordance with claim 18.