Determining lane assignment based on recognized landmark location

Patent metadata

Field	Value
Publication number	US-2017364082-A1
Application number	US-201715673345-A
Country	US
Kind code	A1
Filing date	Aug 9, 2017
Priority date	Feb 10, 2015
Publication date	Dec 21, 2017
Grant date	—

Abstract

Systems and methods are provided for determining a lane assignment for an autonomous vehicle along a road segment. In one implementation, at least one image representative of an environment of the vehicle is received from a camera. The at least one image may be analyzed to identify at least one recognized landmark, and an indicator of a lateral offset distance between the vehicle and the at least one recognized landmark may be determined. Moreover, a lane assignment of the vehicle along the road segment may be determined based on the indicator of the lateral offset distance between the vehicle and the at least one recognized landmark.

First claim

1 .- 28 . (canceled)

29 . A system for determining a lane assignment for an autonomous vehicle along a road segment, the system comprising:
at least one processor programmed to:
receive from a camera at least one image representative of an environment of the vehicle;
analyze the at least one image to identify at least one recognized landmark;
determine an indicator of a lateral offset distance between the vehicle and the at least one recognized landmark; and
determine a lane assignment of the vehicle along the road segment based on the indicator of the lateral offset distance between the vehicle and the at least one recognized landmark.

30 . The system of claim 29 , wherein the environment of the vehicle includes the road segment, a number of lanes, and the at least one recognized landmark.

31 . The system of claim 29 , wherein the at least one recognized landmark includes at least one of a traffic sign, an arrow marking, a lane marking, a dashed lane marking, a traffic light, a stop line, a directional sign, a reflector, a landmark beacon, or a lamppost.

32 . The system of claim 29 , wherein the at least one recognized landmark includes a sign for a business.

33 . The system of claim 29 , wherein the lateral offset distance between the vehicle and the at least one recognized landmark is a sum of a first distance between the vehicle and a first side of the road segment and a second distance between the first side of the road and the at least one recognized landmark.

34 . The system of claim 29 , wherein the determination of the indicator of the lateral offset distance between the vehicle and the at least one recognized landmark is based on a predetermined position of the at least one recognized landmark.

35 . The system of claim 29 , wherein the determination of the indicator of the lateral offset distance between the vehicle and the at least one recognized landmark is based on a scale associated with the at least one image.

36 . The system of claim 29 , wherein the determination of the lane assignment is further based on at least one of a width of the road segment, a number of lanes of the road segment, and a lane width.

37 . The system of claim 29 , wherein the determination of the lane assignment is further based on a predetermined road model trajectory associated with the road segment.

38 . The system of claim 29 , wherein the at least one recognized landmark includes a first recognized landmark on a first side of the vehicle and a second recognized landmark on a second side of the vehicle and wherein determination of the lane assignment of the vehicle along the road segment is based on a first indicator of lateral offset distance between the vehicle and the first recognized landmark and a second indicator of lateral offset distance between the vehicle and the second recognized landmark.

39 . A computer-implemented method for determining a lane assignment for an autonomous vehicle along a road segment, the method comprising the following operations performed by one or more processors:
receiving from a camera at least one image representative of an environment of the vehicle; analyzing the at least one image to identify at least one recognized landmark; determining an indicator of a lateral offset distance between the vehicle and the at least one recognized landmark; and determining a lane assignment of the vehicle along the road segment based on the indicator of the lateral offset distance between the vehicle and the at least one recognized landmark.

40 . The method of claim 39 , wherein the at least one recognized landmark includes at least one of a traffic sign, an arrow marking, a lane marking, a dashed lane marking, a traffic light, a stop line, a directional sign, a reflector, a landmark beacon, or a lamppost.

41 . The method of claim 39 wherein the at least one recognized landmark includes a sign for a business.

42 . The method of claim 39 , wherein the determination of the lane assignment is further based on a predetermined road model trajectory associated with the road segment.

43 . The method of claim 39 , wherein the at least one recognized landmark includes a first recognized landmark on a first side of the vehicle and a second recognized landmark on a second side of the vehicle and wherein determination of the lane assignment of the vehicle along the road segment is based on a first indicator of lateral offset distance between the vehicle and the first recognized landmark and a second indicator of lateral offset distance between the vehicle and the second recognized landmark.

44 . A computer-readable storage medium that comprises a set of instructions that are executable by at least one processor to cause the at least one processor to perform a method for determining a lane assignment for an autonomous vehicle along a road segment, the method comprising:
receiving from a camera at least one image representative of an environment of the vehicle; analyzing the at least one image to identify at least one recognized landmark; determining an indicator of a lateral offset distance between the vehicle and the at least one recognized landmark; and determining a lane assignment of the vehicle along the road segment based on the indicator of the lateral offset distance between the vehicle and the at least one recognized landmark.

45 . The computer-readable storage medium of claim 44 , wherein the at least one recognized landmark includes at least one of a traffic sign, an arrow marking, a lane marking, a dashed lane marking, a traffic light, a stop line, a directional sign, a reflector, a landmark beacon, or a lamppost.

46 . The computer-readable storage medium of claim 45 , wherein the at least one recognized landmark includes a sign for a business.

47 . The computer-readable storage medium of claim 45 , wherein the determination of the lane assignment is further based on a predetermined road model trajectory associated with the road segment.

48 . The computer-readable storage medium of claim 45 , wherein the at least one recognized landmark includes a first recognized landmark on a first side of the vehicle and a second recognized landmark on a second side of the vehicle and wherein determination of the lane assignment of the vehicle along the road segment is based on a first indicator of lateral offset distance between the vehicle and the first recognized landmark and a second indicator of lateral offset distance between the vehicle and the second recognized landmark.

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Taieb Yoav
• Braunstein Daniel

Classifications

• G01C21/32

  Structuring or formatting of map data · CPC title

• G01C21/30 Primary

  Map- or contour-matching · CPC title

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title

• G01C21/3602

  Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera · CPC title

• G01S19/10

  providing dedicated supplementary positioning signals · CPC title