Intersection recognition device and road type recognition device

• US 9,489,584 B2
• Filed: 05/24/2013
• Issued: 11/08/2016
• Est. Priority Date: 05/25/2012
• Status: Active Grant

• Current Assignee: DENSO Corporation
• Original Assignee: DENSO Corporation
• Inventors: Osanai, Satoshi, Kawasaki, Naoki
• Primary Examiner(s): Bella, Matthew
• Assistant Examiner(s): TORRES, JOSE
• Application Number:
  US14/403,527
• Publication Number:
  US 20150161455A1
• Time in Patent Office: 1,264 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: G06T 7/20 Analysis of motion motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• 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 1/09626 where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An intersection recognition device installed in a vehicle includes an image acquisition unit that acquires images around the moving vehicle. The device includes an extraction unit that extracts, from the images acquired by the image acquisition unit, a type and a position of at least one traffic marking existing around the vehicle. The device includes a determination unit that determines whether an intersection exists based on the type of the at least one traffic marking extracted by the extraction unit and a relative position relationship between the at least one traffic marking and the vehicle.

Claims

1. An intersection recognition device installed in a vehicle, the intersection recognition device comprising:

an image acquisition unit that acquires images around the moving vehicle;

an extraction unit that extracts, from the images acquired by the image acquisition unit, a type and a position of at least one traffic marking existing around the vehicle; and

a determination unit that determines whether an intersection exists based on the type of the at least one traffic marking extracted by the extraction unit and a relative position relationship between the at least one traffic marking and the vehicle,

wherein;

the extraction unit extracts a type and a position of at least one peripheral object in addition to the at least one traffic marking; and

the determination unit determines that the vehicle has passed through an intersection when having difficulty recognizing the at least one traffic marking and the at least one peripheral object after the positions of the at least one traffic marking and the at least one peripheral object relative to the vehicle are gradually shortened.

2. The intersection recognition device according to claim 1, wherein:

the extraction unit extracts a road surface marking or a mark line as the at least one traffic marking, the road surface marking or the mark line being a diamond-shape mark indicating an existence of a pedestrian crossing, an arrow for straight or left/right turn, a stop line, a stop sign, a pedestrian crossing, a bicycle crossing, a broken line located inside a lane line, a destination name, or a road color.

3. The intersection recognition device according to claim 1, wherein:

the at least one peripheral object being comprised of at least one of a stationary object and a moving object, the at least one of the stationary object and the moving object existing around the vehicle; and

the determination unit determines whether an intersection exists based on the type and the position of the at least one peripheral object extracted by the extraction unit in addition to the at least one traffic marking, the position of the at least one peripheral object being relative to the vehicle.

4. The intersection recognition device according to claim 1, further comprising:

a credibility determination unit that determines, based on at least one of the number of the at least one traffic marker and the number of the at least one peripheral object, a level of credibility in a determination result by the determination unit, the at least one traffic marker and the number of the at least one peripheral object being extracted by the extraction unit, the determination result representing an existence of an intersection.

5. The intersection recognition device according to claim 4, further comprising:

a velocity obtaining unit that obtains velocity of the vehicle,

wherein;

the credibility determination unit performs weighting on the determined level of credibility based on the velocity of the vehicle obtained by the velocity obtaining unit.

6. The intersection recognition device according to claim 4, further comprising:

a position obtaining unit that obtains a position of the vehicle,

wherein;

the credibility determination unit performs weighting on the determined level of credibility based on the position of the vehicle obtained by the position obtaining unit with respect to the intersection determined by the determination unit.

7. The intersection recognition device according to claim 1, wherein:

the determination unit determines that the vehicle has passed through an intersection when having difficulty recognizing the at least one traffic marking and the at least one peripheral object after it is determined that an intersection exists.

8. The intersection recognition device according to claim 7, further comprising:

a credibility determination unit that determines, based on at least one of the number of the at least one traffic marker and the number of the at least one peripheral object, a level of credibility in a determination result by the determination unit, the at least one traffic marker and the number of the at least one peripheral object being extracted by the extraction unit, the determination result representing an existence of an intersection.

9. The intersection recognition device according to claim 8, further comprising:

a velocity obtaining unit that obtains velocity of the vehicle,

wherein;

the credibility determination unit performs weighting on the determined level of credibility based on the velocity of the vehicle obtained by the velocity obtaining unit.

10. The intersection recognition device according to claim 8, further comprising:

a position obtaining unit that obtains a position of the vehicle,

wherein;

the credibility determination unit performs weighting on the determined level of credibility based on the position of the vehicle obtained by the position obtaining unit with respect to the intersection determined by the determination unit.

11. A road type recognition device comprising:

the intersection recognition device according to claim 1;

a distance obtaining unit that obtains a traveling distance of the vehicle; and

a road recognition unit that recognizes that a type of a road on which the vehicle is traveling is;

an urban area road if the number of intersections recognized by the intersection recognition device is equal to or more than a predetermined number within a predetermined traveling distance obtained by the distance obtaining unit, or

a road other than urban area roads if the number of intersections recognized by the intersection recognition device is less than the predetermined number within the predetermined traveling distance obtained by the distance obtaining unit.

12. The road type recognition device according to claim 11, further comprising:

a type credibility determination unit that determines a level of credibility in the type of the road being recognized to be an urban area road by the road recognition unit.

13. The road type recognition device according to claim 12, further comprising:

a velocity obtaining unit that obtains velocity of the vehicle,

wherein;

the road recognition unit recognizes the type of the road on which the vehicle is traveling as an expressway if the velocity of the vehicle obtained by the velocity obtaining unit is equal to or more than predetermined velocity.

14. The road type recognition device according to claim 13, further comprising:

a type credibility determination unit that determines a level of credibility in the type of the road being recognized to be an express way by the road recognition unit.

15. The road type recognition device according to claim 11, further comprising:

a velocity obtaining unit that obtains velocity of the vehicle,

wherein;

the road recognition unit recognizes the type of the road on which the vehicle is traveling as an expressway if the velocity of the vehicle obtained by the velocity obtaining unit is equal to or more than predetermined velocity.

16. The road type recognition device according to claim 15, further comprising:

a type credibility determination unit that determines a level of credibility in the type of the road being recognized to be an express way by the road recognition unit.