Traffic signal recognition device and autonomous driving system

Patent metadata

Field	Value
Publication number	US-11010624-B2
Application number	US-201816223214-A
Country	US
Kind code	B2
Filing date	Dec 18, 2018
Priority date	Jan 11, 2018
Publication date	May 18, 2021
Grant date	May 18, 2021

Abstract

The traffic signal recognition device includes a traffic signal recognition unit configured to perform processing for recognizing the traffic signal based on the result of imaging performed by a camera, an external situation recognition unit configured to recognize a size and position of a surrounding vehicle, and a occluded situation determination unit configured to determine whether or not the area in front of a host vehicle is in the traffic signal occluded situation, in which the line of sight from the camera to the traffic signal is blocked by the surrounding vehicle. The traffic signal recognition unit is configured not to perform the processing for recognizing the traffic signal within a difficulty zone and not to perform the processing for recognizing the traffic signal if it is determined that the area in front of the host vehicle is in the traffic signal occluded situation.

First claim

What is claimed is:

1. A traffic signal recognition device that is configured to recognize a traffic signal in front of a host vehicle, comprising:
a map database configured to store information of a map, including an installed position of the traffic signal and information on a position of a difficulty zone where it is difficult to recognize the traffic signal seen from a traveling lane;
a camera configured to image the front of the host vehicle; and
an electronic control unit (ECU) including a processor programmed to:
recognize a position of the host vehicle on the map,
perform processing for recognizing the traffic signal based on a result of imaging performed by the camera,

recognize a size of a surrounding vehicle at the surroundings of the host vehicle and a position relative to the host vehicle,
determine whether or not an area in front of the host vehicle is in a traffic signal occluded situation in which a line of sight from the camera to the traffic signal is blocked by the surrounding vehicle when the host vehicle travels in the area,
predict whether or not the line of sight from the camera to the traffic signal is blocked by the surrounding vehicle when the host vehicle travels in the area in front of the host vehicle, based on the installed position of the traffic signal and the size and position of the surrounding vehicle, and determine whether or not the area in front of the host vehicle is in the traffic signal occluded situation based on the result of prediction,
not perform the processing for recognizing the traffic signal if the position of the host vehicle is within the difficulty zone, and
not perform the processing for recognizing the traffic signal if the area in front of the host vehicle is in the traffic signal occluded situation.

2. The traffic signal recognition device according to claim 1 , wherein the ECU is further programmed to set a recognition zone on which processing for recognizing the traffic signal is to be performed, at a position in front of the traffic signal in the traveling lane,
perform the processing for recognizing the traffic signal if the position of the host vehicle is within the recognition zone,
determine whether or not a zone other than the difficulty zone in the recognition zone is in the traffic signal occluded situation, and
not perform the processing for recognizing the traffic signal within the difficulty zone in the recognition zone, and
not perform the processing for recognizing the traffic signal within the zone other than the difficulty zone in the recognition zone if the zone other than the difficulty zone is in the traffic signal occluded situation.

3. An autonomous driving system that is configured to perform an autonomous driving control of a host vehicle, comprising:
the traffic signal recognition device according to claim 2 ;
wherein the ECU is further programmed to generate a travel plan in the autonomous driving control; and
perform the autonomous driving control of the host vehicle based on the travel plan,
wherein the ECU predicts whether or not the line of sight from the camera to the traffic signal is blocked by the surrounding vehicle if the host vehicle travels based on the travel plan, and
wherein the ECU generates a new travel plan in which the area in front of the host vehicle is not determined to be in the traffic signal occluded situation if it is determined that the area in front of the host vehicle is in the traffic signal occluded situation.

4. The autonomous driving system according to claim 3 , wherein the ECU is further programmed
to perform notification of a fact that the ECU starts to generate the new travel plan.

5. An autonomous driving system that is configured to perform an autonomous driving control of a host vehicle, comprising:
the traffic signal recognition device according to claim 1 ;
wherein the ECU is further programmed to:
generate a travel plan in the autonomous driving control; and
perform the autonomous driving control of the host vehicle based on the travel plan,
wherein the ECU predicts whether or not the line of sight from the camera to the traffic signal is blocked by the surrounding vehicle if the host vehicle travels based on the travel plan, and
wherein the ECU generates a new travel plan in which the area in front of the host vehicle is not determined to be in the traffic signal occluded situation if it is determined that the area in front of the host vehicle is in the traffic signal occluded situation.

6. The autonomous driving system according to claim 5 , wherein the ECU is further programmed to
perform notification of a fact that the ECU starts to generate the new travel plan.

Assignees

• Toyota Motor Co Ltd

Inventors

• Hayashi Yusuke
• Kamata Nobuhide

Classifications

• G06V20/582 Primary

  of traffic signs · CPC title

• G06V20/584

  of vehicle lights or traffic lights · CPC title

• G08G1/09623

  Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle (G08G1/0967 takes precedence) · CPC title

• G08G1/09626

  where the origin of the information is within the own vehicle, e.g. a local storage device, digital map · CPC title

• G08G1/0962 Primary

  having an indicator mounted inside the vehicle, e.g. giving voice messages · CPC title