US 12,254,705 B2
Method for detecting an exit lane for a motor vehicle
Raphael Quilliard, Massy (FR)
Assigned to AMPERE S.A.S., Boulogne-Billancourt (FR); and NISSAN MOTOR CO., LTD., Yokohama (JP)
Appl. No. 17/621,051
Filed by RENAULT s.a.s., Boulogne-Billancourt (FR); and NISSAN MOTOR CO., LTD., Yokohama (JP)
PCT Filed Jun. 12, 2020, PCT No. PCT/EP2020/066256
§ 371(c)(1), (2) Date Dec. 20, 2021,
PCT Pub. No. WO2021/001133, PCT Pub. Date Jan. 7, 2021.
Claims priority of application No. 1907317 (FR), filed on Jul. 2, 2019.
Prior Publication US 2022/0366704 A1, Nov. 17, 2022
Int. Cl. G06V 20/56 (2022.01); B60W 30/12 (2020.01)
CPC G06V 20/588 (2022.01) [B60W 30/12 (2013.01); G06V 20/56 (2022.01); B60W 2420/403 (2013.01); B60W 2552/53 (2020.02)] 10 Claims
OG exemplary drawing
 
1. A method for detecting an exit lane for a motor vehicle based on a succession of images from ahead of the vehicle which are acquired by a camera on board the vehicle as the vehicle moves along a main traffic lane bounded laterally by ground marking lines located along a right-hand edge and a left-hand edge of said traffic lane, said method comprising:
detecting, in said images, the right-hand ground marking line and the left-hand ground marking line,
determining a first heading angle of the vehicle with respect to the detected right-hand ground marking line and a second heading angle of the vehicle with respect to the detected left-hand ground marking line,
providing a first exit lane detection state, representative of detecting a standard exit lane on the right or on the left according to a comparison of the values of the first heading angle or of the second heading angle with a predetermined threshold,
providing a second exit lane detection state, representative of detecting an exit lane on the right or on the left coaxial with a continuation of the main traffic lane, according to, first, a comparison between derivatives with respect to time of a variation in the first and second heading angles and, second, a verification that the value of the first heading angle or of the second heading angle remains substantially close to a zero value; and
correcting a trajectory of the motor vehicle using the first or the second exit lane detection state.