JP-2026074759-A - Entry prohibited judgment device

Abstract

[Challenge] To properly determine whether a vehicle is entering a road where entry is prohibited when turning left or right. [Solution] The entry prohibition determination device 100 includes an entry restriction display recognition unit 11 that recognizes an entry restriction display M indicating that vehicle entry to the road is prohibited, based on an image captured by the front camera 1 of the vehicle 20, and an entry prohibition determination unit 12 that determines whether the vehicle 20 has entered a road where entry is prohibited when the vehicle 20 is in a right or left turning state and at least one entry restriction display M is recognized near the entrance of the road R into which the vehicle 20 is entering. [Selection Diagram] Figure 4

Inventors

• 木嶋 啓貴

Assignees

• トヨタ自動車株式会社

Dates

Publication Date

20260507

Application Date

20241021

Claims (4)

1. An entry restriction sign recognition unit recognizes an entry restriction sign installed on a road that indicates a prohibition of vehicle entry onto the road, based on an image captured by a front-facing camera of the vehicle. An entry prohibition determination device comprising: an entry prohibition determination unit that determines whether the vehicle is entering a prohibited road when the vehicle is in a right or left turning state and at least one of the entry restriction signs is recognized near the entrance of the road into which the vehicle is entering.
2. The entry prohibition determination device according to claim 1, which determines whether the vehicle is in a right or left turning state based on at least one of the following: whether the vehicle's turn signal is activated, the vehicle's steering angle, and the vehicle's yaw rate.
3. The entry prohibition determination device according to claim 1, which determines whether the vehicle is in a right or left turning state based on the steering angle or yaw rate of the vehicle when the vehicle's turn signal is activated.
4. The entry restriction display recognition unit does not recognize entry restriction displays whose distance from the vehicle is greater than or equal to the recognition distance threshold, but recognizes entry restriction displays whose distance from the vehicle is less than the recognition distance threshold, as described in any one of claims 1 to 3.

Description

This invention relates to an entry prohibition determination device. For example, Patent Document 1 describes an entry prohibition determination device (entry determination device) that determines whether a vehicle is entering a road where entry is prohibited. This entry prohibition determination device determines whether a vehicle is entering a road where entry is prohibited based on the recognition, from images captured by the vehicle's front camera, that two entry prohibition signs exist on the left and right sides of the vehicle's path. Japanese Patent Publication No. 2016-224714 This is a block diagram showing an entry prohibition determination device according to one embodiment.(a) A plan view showing an example of the situation before a vehicle turns left at an intersection. (b) A plan view showing an example of the situation when a vehicle turns left and enters a road where entry is prohibited. (c) A plan view showing an example of the situation when a vehicle has entered a road where entry is prohibited.This is a flowchart showing an example of a process for determining whether entry is prohibited.This is a plan view illustrating an example of how entry prohibition is determined when a vehicle is proceeding straight through an intersection. The following describes exemplary embodiments with reference to the drawings. In each drawing, identical or equivalent elements are denoted by the same reference numerals, and redundant explanations are omitted. Figure 1 is a block diagram showing an embodiment of the no-entry detection device 100. The no-entry detection device 100 is mounted, for example, on a vehicle 20 (see Figure 2(a)) and is a device for preventing the vehicle 20 from mistakenly entering a no-entry road. The no-entry detection device 100 recognizes no-entry signs using images captured by the vehicle 20's front camera 1, and alerts the driver if the vehicle 20 is about to enter a no-entry road. Details regarding no-entry signs and no-entry roads will be described later. The entry prohibition detection device 100 includes an ECU (Electronic Control Unit) 10 that comprehensively manages the device. The ECU 10 is an electronic control unit having a CPU (Central Processing Unit) and a memory unit. The memory unit consists of, for example, ROM (Read Only Memory), RAM (Random Access Memory), and EEPROM (Electrically Erasable Programmable Read-Only Memory). The ECU 10 implements various functions, for example, by executing programs stored in the memory unit using the CPU. The ECU 10 may be composed of multiple electronic control units. The ECU 10 is connected to a front camera 1, a turn signal sensor 2, a steering angle sensor 3, a yaw rate sensor 4, a display 5, and a speaker 6. These devices connected to the ECU 10 are mounted on the vehicle 20. The front camera 1 is installed, for example, behind the windshield of the vehicle 20, and captures images of the area in front of the vehicle 20. The front camera 1 captures images of the area in front of the vehicle 20 that falls within, for example, imaging range A (see Figure 2(a)), and transmits the captured images to the ECU 10. The installation location and number of front cameras 1 are not limited. The turn signal sensor 2 detects the operating state and direction of the vehicle's turn signal (e.g., the indicator light) and transmits data regarding the operating state and direction to the ECU 10. The turn signal sensor 2 detects whether the vehicle's turn signal is operating and whether it is operating to the right or left. The steering angle sensor 3 is installed, for example, on the steering column and detects the steering angle (rotation angle) of the vehicle's 20 steering wheel. The steering angle sensor 3 transmits the detected steering angle data to the ECU 10. The yaw rate sensor 4 is installed, for example, near the vehicle's center of gravity and detects the rotational speed (yaw rate) around the vehicle's yaw axis (vertical axis). The yaw rate sensor 4 detects the rotational speed using, for example, a gyroscope. The yaw rate sensor 4 transmits the detected rotational speed data to the ECU 10. Display 5 is a display device installed, for example, inside the cabin of vehicle 20, which presents information to the driver of vehicle 20 visually. Display 5 may be, for example, a center display, a MID (Multi-Information Display), or a HUD (Head-Up Display). Display 5 displays various types of information in accordance with control signals from ECU 10. Speaker 6 is a device installed, for example, inside the cabin of vehicle 20, which presents information to the driver of vehicle 20 through sound. Speaker 6 outputs sound and other signals based on control signals from ECU 10. Next, the functional configuration of the ECU 10 will be described. Functionally, the ECU 10 includes an entry restriction display recognition unit 11 and an entry prohibition determination unit 12. The entry restriction sign recognition unit 11 recognizes entry restrictio