Patent ID: 9470537
Filing Date: 2016-10-18
CPC Classification: G01C

Claim Text:
1. An in-vehicle system for determining whether a vehicle in an autonomous driving mode has moved off of a main roadway and into an exit lane, the system comprising: an a navigation unit for determining that an exit is approaching on a side of the main roadway; a camera for obtaining image data regarding lane markings and exit signs in response to a determination by the navigation unit that the exit is approaching; an image processor for identifying a predetermined pattern among the lane markings and for determining a side of the vehicle on which the predetermined pattern exists, wherein the predetermined patterns include a Y-shaped configuration of solid line lane markings and a V-shaped configuration of solid line lane markings; means for determining whether the vehicle has moved into the exit lane based on an assessment of the side of the main roadway on which the exit is approaching and the side of the vehicle on which the predetermined pattern exists; and means for verifying the determination by recognizing an exit sign and determining a side of the vehicle on which the exit sign exists, wherein the in-vehicle system issues a warning to a driver of the vehicle and disengages the autonomous driving mode in response to a verified determination that the vehicle has moved into the exit lane.