Enhanced clear path detection in the presence of traffic infrastructure indicator

• US 8,751,154 B2
• Filed: 10/19/2009
• Issued: 06/10/2014
• Est. Priority Date: 04/24/2008
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Zhang, Wende, Naik, Sanjeev M.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): LIN, ABBY YEE
• Application Number:
  US12/581,849
• Publication Number:
  US 20100100268A1
• Time in Patent Office: 1,695 Days
• Field of Search: 701 23- 28, 701117-122, 701408-430, 701431-433, 701437-450, 701461-467, 701300-302, 701/533, 340988-996, 348/E7.085, 348113-119
• US Class Current: 701/411
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/582 of traffic signs
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• 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
• CPC Class Codes: G08G 1/00 Traffic control systems for road vehicles arrangement of road signs or traffic signals E01F9/00 ; automatic vehicle control B62D
• CPC Class Codes: G08G 1/163 involving continuous checking

Abstract

A method for detecting a clear path of travel for a vehicle utilizing analysis of a plurality of images generated by a camera device located upon the vehicle includes monitoring the images. The images are analyzed including determining a clear path upon which a potential road surface can be estimated from other portions of the images that do not indicate a potential road surface, and determining an image of a traffic infrastructure indication. The method further includes determining the content of the traffic infrastructure indication, modifying the clear path based upon the content of the traffic infrastructure indication, and utilizing the modified clear path in navigation of the vehicle.

Claims

1. Method for detecting a clear path of travel for a vehicle utilizing analysis of a plurality of images generated by a camera device located upon the vehicle, the images generated by the camera device are input to a processing module configured to execute the method comprising:

monitoring the images;

analyzing the images comprising

determining a clear path upon which a potential road surface can be estimated from other portion of the images that do not indicate a potential road surface;

determining an image of a traffic infrastructure indication;

determining the content of the traffic infrastructure indication;

iteratively fusing the content of the traffic infrastructure indication and the determined clear path to generate a modified clear path, comprising

determining, during a first iteration, that the determined clear path describes a section along the potential road surface of a special zone that invalidates the content of the traffic infrastructure indication and enhancing the content of the traffic infrastructure indication to correspond with the section along the potential road surface or the special zone described by the determined clear path,

determining, during a second iteration, that the enhanced content of the traffic infrastructure indication describes a threshold condition, the threshold condition selected to minimize at least one of non-critical and non-desirable distractions upon the vehicle operating in one of autonomous and semi-autonomous driving modes, and modifying the clear path based upon the enhanced content of the traffic infrastructure indication; and

utilizing the modified clear path in navigation of the vehicle.

2. The method of claim 1, wherein determining the image of the traffic infrastructure indication comprises determining a roadside sign.

3. The method of claim 2, wherein the roadside sign comprises a stop sign.

4. The method of claim 3, further comprising:

determining, during the first iteration, that the determined clear path does not describe the section along the potential road surface or the special zone that invalidates the content of the traffic infrastructure indications and modifying the clear path based upon the stop sign comprising indicating road past the stop sign to be not clear path until the vehicle stops at the stop sign.

5. The method of claim 2, wherein the roadside sign comprises a road geometry sign.

6. The method of claim 2, wherein the roadside sign comprises a road construction indication.

7. The method of claim 1, wherein determining the image of the traffic infrastructure indication comprises determining a traffic signal indication.

8. The method of claim 7, further comprising:

determining, during the first iteration, that the determined clear path does not describe the section along the potential road surface or the special zone that invalidates the content of the traffic infrastructure indications and modifying the clear path based upon the traffic signal indication comprising indicating road past the traffic signal indication indicates a stop condition.

9. The method of claim 1, wherein determining the content of the traffic infrastructure indication comprises storing the image of the traffic infrastructure indicator in a database for comparison and cross referencing for context.

10. The method of claim 1, wherein determining the content of the traffic infrastructure indication comprises utilizing pattern recognition to determine the content of the traffic infrastructure indication.

11. The method of claim 1, wherein determining the content of the traffic infrastructure indication comprises monitoring a vehicle-to-infrastructure communication link.

12. The method of claim 1, further comprising monitoring a GPS digital map device;

and

wherein determining the image of the traffic infrastructure indication comprises determining a traffic direction signal based upon data from the GPS digital map device.

13. A system for detecting a clear path of travel for a vehicle utilizing analysis of a plurality of images generated by a camera device located upon the vehicle, the system comprising:

a camera device located upon the vehicle and configured to generate a plurality of images;

a control module configured to monitor the images and analyze the images from the camera device, wherein analyzing the images from the camera device comprises

determining a clear path upon which a potential road surface can be estimated from other portions of the image that do not indicate a potential road surface;

determining an image of a traffic infrastructure indication;

determining the content of the traffic infrastructure indication;

iteratively fusing the content of the traffic infrastructure indication and the determined clear path to generate a modified clear path, comprising

determining, during a first iteration, that the determined clear path describes a section along the potential road surface of a special zone that invalidates the content of the traffic infrastructure indication and enhancing the content of the traffic infrastructure indication to correspond with the section along the potential road surface or the special zone described by the determined clear path,

determining, during a second iteration, that the enhanced content of the traffic infrastructure indication describes a threshold condition, the threshold condition selected to minimize at least one of non-critical and non-desirable distractions upon the vehicle operating in one of autonomous and semi-autonomous driving modes, and modifying the clear path based upon the enhanced content of the traffic infrastructure indication; and

utilizing the modified clear path in navigation of the vehicle.

14. The system of claim 13, further comprising an autonomous steering system operating based upon the analyzing the images from the camera device.