Method for combining a road sign recognition system and a lane detection system of a motor vehicle

Patent metadata

Field	Value
Publication number	US-9177212-B2
Application number	US-201113704364-A
Country	US
Kind code	B2
Filing date	Mar 19, 2011
Priority date	Jun 15, 2010
Publication date	Nov 3, 2015
Grant date	Nov 3, 2015

Abstract

A method combines a road sign recognition system and a lane detection system of a motor vehicle. The road sign recognition system generates road sign information from sensor data of a camera-based or video-based sensor system and the lane detection system generates lane course information from the sensor data. Meaning-indicating data for road signs are generated from the lane course information, and are used to check the plausibility of and/or to interpret the road sign information. Data indicating the course of the lane are generated from the road sign information, and are used to check the plausibility of and/or to interpret the lane course information.

First claim

The invention claimed is:

1. A method for combining a road sign recognition system and a lane detection system of a subject motor vehicle driving along a subject vehicle's lane of a road, comprising the steps:
a) generating sensor data from a camera-based or video-based sensor system,
b) providing the sensor data to the road sign recognition system and to the lane detection system,
c) with the road sign recognition system, generating road sign information regarding a road sign detected in an environment of the road from the sensor data,
d) with the lane detection system, generating lane course information regarding the subject vehicle's lane from the sensor data,
e) with the lane detection system, generating first cross-over data from the lane course information,
f) providing the first cross-over data to the road sign recognition system, and using the first cross-over data to check the plausibility of and/or to interpret the road sign information in the road sign recognition system to thereby select or deselect the road sign information as plausible and/or recognized road sign information,
g) with the road sign recognition system, generating second cross-over data from the road sign information, and
h) providing the second cross-over data to the lane detection system, and using the second cross-over data to check the plausibility of and/or to interpret the lane course information in the lane detection system to thereby select or deselect the lane course information as plausible and/or recognized lane course information.

2. The method according to claim 1 , characterized in that said step f) comprises said checking of the plausibility of the road sign information.

3. The method according to claim 1 , characterized in that
said first cross-over data comprises information about a line structure of a fast lane of a pavement of the road, which is generated from the lane course information of the lane detection system, and
said step f) comprises checking the plausibility of the road sign information regarding a road sign indicating a restriction on passing using the information about the line structure.

4. The method according to claim 1 , characterized in that
said first cross-over data comprises construction-site-indicating information, which is generated from the lane course information concerning the subject vehicle's lane, and
said step f) comprises checking the plausibility of the road sign information regarding a road sign indicating a speed limit and/or a restriction on passing using the construction-site-indicating information.

5. The method according to claim 1 , characterized in that
said second cross-over data comprises construction-site-indicating information, which is generated from the road sign information, and
further comprising performing an analysis of the sensor data for particular lane course scenarios and/or for indicators for particular lane course scenarios, wherein said analysis is performed by the lane detection system based on the construction-site-indicating information.

6. The method according to claim 1 , characterized in that
said second cross-over information comprises information indicating road signs indicating a speed limit and/or a road type of the road, which is generated from the road sign information, and
further comprising analyzing the information indicating road signs indicating the speed limit and/or the road type, for road-type-indicating features, by the lane detection system, or checking the plausibility of the identified road type.

7. The method according to claim 1 , which is performed without using information from a digital map or from a satellite-based navigation system.

8. The method according to claim 1 , wherein the road sign recognition system includes a road sign detection unit, a selection and plausibility unit, and a memory, wherein said checking of the plausibility and/or said interpreting of the road sign information is performed in the selection and plausibility unit, and further comprising storing the plausible and/or recognized road sign information in the memory.

9. A method for combining a road sign recognition system and a lane detection system of a motor vehicle driving along a road, wherein the road sign recognition system generates road sign information from sensor data of a camera-based or video-based sensor system and the lane detection system generates lane course information from said sensor data, characterized in that
meaning-indicating data for road signs are generated from the lane course information,
the meaning-indicating data for road signs are used to check the plausibility of and/or to interpret the road sign information,
data indicating the course of the lane are generated from the road sign information,
the data indicating the course of the lane are used to check the plausibility of and/or to interpret the lane course information,
the meaning-indicating data for road signs comprises information indicating an exit ramp or an exit ramp region that is generated from the lane course information of the lane detection system,
the plausibility of the road sign information regarding particular road signs that indicate a speed limit and/or a restriction on passing and that are recognized by the road sign recognition system is checked using the information indicating the exit ramp or the exit ramp region, and
further comprising a first additional feature or a second additional feature, wherein:
according to the first additional feature, a fact that the motor vehicle is remaining on the road and driving past the exit ramp is detected from the current lane detected by the lane detection system and/or from a lane change of the motor vehicle detected by the lane detection system and from the information indicating the exit ramp or the exit ramp region, and the road sign recognition system rejects data of the road sign information regarding the particular road signs that indicate the speed limit and/or the restriction on passing and that concern the exit ramp, or
according to the second additional feature, a fact that the motor vehicle is exiting the road onto the exit ramp is detected from the current lane detected by the lane detection system and/or from a lane change of the motor vehicle detected by the lane detection system and from the information indicating the exit ramp or the exit ramp region, and data of the road sign information regarding the particular road signs that indicate the speed limit and/or the restriction on passing and that concern the exit ramp are outputted to a Human Machine Interface of the motor vehicle.

10. The method according to claim 9 , comprising said first additional feature.

11. The method according to claim 9 , comprising said second additional feature.

12. The method according to claim 9 , wherein the particular road signs indicate the restriction on passing.

13. A method for combining a road sign recognition system and a lane detection system of a motor vehicle driving along a road, wherein the road sign recognition system generates road sign information from sensor data of a camera-based or video-based sensor system and the lane detection system generates lane course information from said sensor data, characterized in that
meaning-indicating data for road signs are generated from the lane course information,
the meaning-indicating data for road signs are used to check the plausibility of and/or to interpret the road sign information,
data indicating the course of the lane are generated from the road sign information,
the data indicating the course of the lane are used to check the plausibility of and/or to interpret the lane co

Assignees

• Meis Urban
• Gutmann Christian
• Schorn Matthias
• Kristensen Steen
• Conti Temic Microelectronic

Inventors

• Meis Urban
• Gutmann Christian
• Schorn Matthias
• Kristensen Steen

Classifications

• G08G1/16

  Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) · CPC title

• G08G1/096775

  where the origin of the information is a central station · CPC title

• G08G1/096716

  where the received information does not generate an automatic action on the vehicle control · CPC title

• G06K9/00798 Primary

  Physics · mapped topic

• G08G1/167

  Driving aids for lane monitoring, lane changing, e.g. blind spot detection · CPC title