Systems and methods for detecting traffic lights

Patent metadata

Field	Value
Publication number	US-9272709-B2
Application number	US-201514610495-A
Country	US
Kind code	B2
Filing date	Jan 30, 2015
Priority date	Jan 30, 2014
Publication date	Mar 1, 2016
Grant date	Mar 1, 2016

Abstract

Systems and methods use cameras to provide autonomous navigation features. In one implementation, a system includes at least one image capture device configured to acquire a plurality of images of a traffic light located in a region above the vehicle, outside of a sightline of a typical driver location in the vehicle. The system further includes a data interface, and at least one processing device. The at least one processing device may be configured to receive the plurality of images via the data interface, determine a status of the traffic light based on analysis of at least a first image from among the plurality of images, determine a change in status of the traffic light based on at least a second image from among the plurality of images, and cause a system response based on the determination of the change in status.

First claim

What is claimed is:

1. A traffic light detection system for a vehicle, the system comprising:
at least one image capture device configured to acquire a plurality of images of a traffic light, wherein the traffic light is located in a region above the vehicle and outside of a sightline of a typical driver location in the vehicle;
a data interface; and
at least one processing device configured to:
receive the plurality of images via the data interface;
determine a status of the traffic light based on analysis of at least a first image from among the plurality of images;
determine a change in status of the traffic light based on at least a second image from among the plurality of images; and
cause a system response based on the determination of the change in status.

2. The traffic light detection system of claim 1 , wherein the at least one image capture device includes a sensor and a lens whose focal length is shorter than a short side of the sensor.

3. The traffic light detection system of claim 1 , wherein the at least one processing device is further configured to correct optical distortion in the at least a first image.

4. The traffic light detection system of claim 1 , wherein a vertical field-of-view from the typical driver location in the vehicle is about 65 degrees and a vertical field-of-view of the at least one image capture device is more than 65 degrees.

5. The traffic light detection system of claim 1 , wherein the at least one image capture device is configured for location within the vehicle.

6. The traffic light detection system of claim 1 , wherein the at least one processing device is further configured to determine a status of the traffic light when the at least one image capture device acquires the plurality of images through a windshield of the vehicle.

7. The traffic light detection system of claim 1 , wherein the at least one image capture device is configured to capture images of traffic lights located in a conic section zone of between 150 to 180 degrees relative to a location of the at least one image capture device.

8. The traffic light detection system of claim 1 , wherein the at least one image capture device is configured to capture images of traffic lights located in a conic section zone of between 170 to 180 degrees relative to a location of the at least one image capture device.

9. The traffic light detection system of claim 1 , wherein the system response includes reporting the change in status to the driver of the vehicle.

10. The traffic light detection system of claim 1 , wherein the system response includes accelerating to a driver-specified cruise speed.

11. The traffic light detection system of claim 1 , wherein the at least one processing device is further configured to determine a relevance of the traffic light captured in the plurality of images based on at least one indicator of vehicle position.

12. The traffic light detection system of claim 11 , wherein the at least one indicator of vehicle position includes a lane marker recognized based on analysis of the plurality of images.

13. The traffic light detection system of claim 11 , wherein the at least one indicator of vehicle position includes a vehicle location acquired by GPS.

14. The traffic light detection system of claim 13 , wherein the at least one processing device is configured to compare the GPS acquired vehicle location to map data to determine the relevance of the traffic light.

15. A vehicle, comprising:
a body;
at least one image capture device configured to acquire a plurality of images of a traffic light, wherein the traffic light is located in a region above the vehicle and outside of a sightline of a typical driver location in the vehicle;
a data interface; and
at least one processing device configured to:
receive the plurality of images via the data interface;
determine a status of the traffic light based on analysis of at least a first image from among the plurality of images;
determine a change in status of the traffic light based on at least a second image from among the plurality of images; and
cause a system response based on the determination of the change in status.

16. The vehicle of claim 15 , wherein the at least one image capture device is configured for location within the vehicle.

17. The vehicle of claim 15 , wherein the at least one processing device is further configured to determine a status of the traffic light when the at least one image capture device acquires the plurality of images through a windshield of the vehicle.

18. The vehicle of claim 15 , wherein the system response includes reporting the change in status to the driver of the vehicle.

19. The vehicle of claim 15 , wherein the system response includes accelerating to a driver specified cruise speed.

20. A method for navigating a vehicle, the method comprising:
acquiring, via at least one image capture device, a plurality of images of a traffic light, wherein the traffic light is located in a region above the vehicle and outside of a sightline of a typical driver location in vehicle;
determining a status of the traffic light based on analysis of at least a first image from among the plurality of images;
determining a change in status of the traffic light based on at least a second image from among the plurality of images; and
causing a system response based on the determination of the change in status.

21. The traffic light detection system of claim 1 , wherein the at least one image capture device includes an ultra-wide lens associated with a vertical direction.

Assignees

• Ben Shalom Itai
• Mobileye Vision Technologies Ltd

Inventors

• Ben Shalom Itai

Classifications

• G08G1/167

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

• G08G1/165

  for passive traffic, e.g. including static obstacles, trees · CPC title

• B60W2552/30

  Road curve radius · CPC title

• B60W2552/15

  Road slope, i.e. the inclination of a road segment in the longitudinal direction · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title