WO2017019020A1

WO2017019020A1 - Bike lane detection methods and systems

Info

Publication number: WO2017019020A1
Application number: PCT/US2015/042280
Authority: WO
Inventors: Jamel Seagraves
Original assignee: Ford Global Technologies, Llc
Priority date: 2015-07-27
Filing date: 2015-07-27
Publication date: 2017-02-02

Abstract

Methods, devices and apparatuses pertaining to traffic lane detection. A method may involve sensing information related to a road surface that has at least one line identifying a bike lane. The method may also involve detecting, using the sensed information, a deviation of a bicycle with respect to the bike lane when the bicycle is traveling on the road surface.

Description

BIKE LANE DETECTION METHODS AND SYSTEMS

TECHNICAL FIELD

[0001] The present disclosure generally relates to traffic safety and, more particularly, to methods and systems for bike lane detection.

BACKGROUND

[0002] Presently most bicycles, including electric bicycles, lack intelligent technology such as advanced safety technology that is more prevalent in automobiles. Bike lanes are designed to improve the safety of cyclists and car drivers who share the same roads. If a cyclist were to unknowingly start veering out of a bike lane into car traffic, the result could be catastrophic. This is a potential hazard particularly for inexperienced cyclists who may be new to the area and/or unaware of the bike lanes along major and minor roads.

BRIEF DESCRIPTION OF THE DRAWINGS

[0003] Non-limiting and non-exhaustive embodiments of the present disclosure are described with reference to the following figures, wherein like reference numerals refer to like parts throughout the various figures unless otherwise specified.

[0004] FIG. 1 is a diagram depicting an example environment in which example embodiments of the present disclosure may be implemented.

[0005] FIG. 2 is a block diagram depicting an example apparatus in accordance with an embodiment of the present disclosure. [0006] FIG. 3 is a diagram depicting an example scenario implementing an embodiment in accordance with the present disclosure.

[0007] FIG. 4 is a flowchart of an example process in accordance with an embodiment of the present disclosure.

DETAILED DESCRIPTION

[0008] In the following description, reference is made to the accompanying drawings that form a part thereof, and in which is shown by way of illustrating specific exemplary embodiments in which the disclosure may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the concepts disclosed herein, and it is to be understood that modifications to the various disclosed embodiments may be made, and other embodiments may be utilized, without departing from the scope of the present disclosure. The following detailed description is, therefore, not to be taken in a limiting sense.

[0009] In view of the potential hazard mentioned above, it would be helpful, especially for new cyclists and riding tourists, to have a bicycle system that detects bike lanes and guides cyclists to stay as closely within the bike lanes as possible. This is even more feasible as more and more cities are providing dedicated bike lanes and, thus, intervention of such technology may be constructed.

[0010] The present disclosure provides a method, apparatus and system that detects bike lanes on the road and provides an alert to a rider in an event that the rider is near a marked bike lane but may be (intentionally or unintentionally) deviating from the bike lane. Embodiments of the present disclosure may be implemented in bicycles and electric bicycles (also knowns as e- bikes or booster bikes) as well as in motorcycles and other types of vehicles that travel on a road surface. Embodiments of the present disclosure may be embedded or built directly in a bicycle or as an aftermarket solution.

[0011] FIG. 1 illustrates an example environment 100 in which example embodiments of the present disclosure may be implemented. In example environment 100, a road surface 105 may be designed to allow both automobile traffic and bicycle traffic to travel thereon. One or more lines such as a line 110 and a line 120, for example, may be provided on road surface 105 to identify or otherwise designate a bike lane 115 on road surface 105. In some environments, road surface 105 may include a single line (e.g., line 110) to designate bike lane 115. Either or both of lines 110 and 115 may be solid, broken or in another pattern, and may be of any color and any texture. Accordingly, automobile traffic, including an automobile 170, may travel on road surface 105 while bicycle traffic, including a bicycle 130, may travel within bike lane 115 on road surface 105. In example environment 100, bicycle 130 generally travels in a direction 135, e.g., forward, and automobile 170 generally travels in a direction 175, e.g., forward, similar or identical to that of direction 135.

[0012] In example environment 100, bicycle 130 may be equipped with a bike lane detection and warning system which may include, for instance, one or more sensors 140A - 140D, a controller 150 and a warning unit 160. It is noteworthy that, although a set number of sensors is shown in FIG. 1, i.e., four, the number of sensors may vary in various embodiments of the present disclosure. Each of the one or more sensors 140A - 140D may be configured to sense information related to road surface 105 that has at least one line 110 or 120 identifying the bike lane 115. The one or more sensors 140 A - 140D may generate and output raw or processed data representative of the sensed information. The term "raw data' herein refers to data not processed before being outputted. For example, the information sensed may be outputted as analog signals, e.g., in the form of electrical current and/or voltage, representative of the sensed information. The term "processed data' herein refers to data having been processed before being outputted, e.g., in the digital form. For example, the sensed information may be in the analog form and may be processed and outputted in the digital form. The one or more sensors 140 A - 140D may include one or more optical sensors, one or more vision sensors (interchangeably referred to as imaging devices herein), or one or more optical sensors and one or more imaging devices. At least one of the one or more sensors 140A - 140D may be mounted on the front end of bicycle 130, e.g., handlebars and/or front wheel fork, in order to have clear forward visibility. Optionally, at least one of the one or more sensors 140 A - 140D may be mounted on either or both sides of bicycle 130. In embodiments where the one or more sensors 140 A - 140D include multiple optical sensors, the multiple optical sensors may be positioned at different angles on the front end of bicycle 130, e.g., handlebars and/or front wheel fork, as well as either or both sides of bicycle 130 for a wider field of view. The one or more sensors 140 A - 140D may be directed toward road surface 105. Moreover, the one or more sensors 140 A - 140D may be disposed at different locations on bicycle 130 and positioned at different angles with respect to road surface 105.

[0013] Controller 150 may be communicatively connected to the one or more sensors 140A - 140D, e.g., wirelessly or via one or more wires, to receive the raw or processed data from the one or more sensors 140 A - 140D. Controller 150 may process the received data using an algorithm to determine the presence of at least one line, e.g., line 110 and/or line 120, which defines or otherwise identifies a bike lane, e.g., bike lane 115, in the vicinity of bicycle 130. That is, when bicycle 130 is traveling in the middle of bike lane 115, a distance between line 110 and sensors 140B and/or 140D may be greater than a threshold distance for detection of line 110. Likewise, when bicycle 130 is traveling in the middle of bike lane 115, a distance between line 120 and sensors 140A and/or 140C may be greater than a threshold distance for detection of line 120. However, when bicycle 130 starts to veer left or right, a distance between bicycle 130 and line 110 or line 120 will decrease to a point where line 110 or line 120 may be sensed, e.g., image captured, by one or more of sensors 140A - 140D (e.g., one or more sensors on the side of bicycle 130 closer to line 110 or line 120).

[0014] In some embodiments, controller 150 may detect the presence of the at least one line in the vicinity of bicycle 130 based on a difference between a color or frequency of the at least one line, e.g., line 110 or line 120, and a color or frequency of road surface 105. In other embodiments, the presence of at least one line is detected based on the intensity of light reflected from the road surface back onto one of the sensors. Controller 150 may detect, using the information sensed by the one or more sensors 140 A - 140D, a deviation of bicycle 130 with respect to bike lane 115 when bicycle 130 is traveling on road surface 105. In response to detecting the deviation, controller 150 may generate a warning signal.

[0015] Warning unit 160 may be communicatively connected to controller 150, e.g., wirelessly or via one or more wires, to receive the warning signal. In response to receiving the warning signal, warning unit 160 may provide a warning indication, which may be in an audible form, a visual form, a mechanical form, or a combination of audible, visual and/or mechanical forms. For instance, warning unit 160 may be configured to provide a beeping sound, haptic pulse(s) of the handlebar grips, flashing light and/or mechanical vibrations, among other forms of intervention, to notify a cyclist of bicycle 130 of the deviation from bike lane 115. In some embodiments, warning unit 160 may transmit a signal, e.g., wirelessly, to a portable device carried on the person of the cyclist of bicycle 130, e.g., smartphone, to trigger the portable device, e.g., via an app executable by the portable device, to provide a warning indication to the cyclist.

[0016] Accordingly, embodiments of the present disclosure may identify a bike lane, e.g., bike lane 115, and present the cyclist of bicycle 130 with an alert or warning indication to notify the cyclist that bicycle 130 is deviating from the bike lane. Thus, embodiments of the present disclosure would alert a cyclist to prevent the cyclist from veering a bicycle out of a bike lane and into car traffic. Advantageously this would tremendously improve the safety of the cyclist.

[0017] FIG. 2 illustrates an example apparatus 200 in accordance with an embodiment of the present disclosure. Example apparatus 200 may be implemented in example environment 100, and may be installed on a bicycle such as bicycle 130. Referring to FIG. 2, example apparatus 200 may include a sensing unit 210, a controller 220 and a warning unit 230. Sensing unit 210 may include a number of sensors 215A - 215N, where N is a positive integer greater than 1. Each of the sensors 215A - 215N of sensing unit 210 may be configured to sense information related to a road surface that has at least one line identifying a bike lane. For instance, at least one of the sensors 215A - 215N may be configured to capture an image of the road surface. Additionally or alternatively, at least one of the sensors 215A - 215N may be configured to sense wavelengths of lights from the surrounding area, including wavelengths of lights reflected from the road surface. Sensors 215A - 215N of sensing unit 210 may generate raw or processed data representative of the sensed information. Sensors 215 A - 215N of sensing unit 210 may include one or more optical sensors, one or more imaging devices, or one or more optical sensors and one or more imaging devices. At least one of the sensors 215A - 215N of sensing unit 210 may be mounted on the front end of a bicycle, e.g., handlebars and/or front wheel fork, in order to have clear forward visibility. Optionally, at least one of the sensors 215A - 215N of sensing unit 210 may be mounted on either or both sides of the bicycle. In embodiments where sensors 215A - 215N of sensing unit 210 include multiple optical sensors, the multiple optical sensors may be positioned at different angles on the front end of the bicycle, e.g., handlebars and/or front wheel fork, as well as either or both sides of the bicycle for a wider field of view. Sensors 215A - 215N of sensing unit 210 may be directed toward the road surface on which the bicycle travels. Moreover, sensors 215A - 215N of sensing unit 210 may be disposed at different locations on the bicycle and positioned at different angles with respect to the road surface.

[0018] Controller 220 may be communicatively connected to sensing unit 210, e.g., wirelessly or via one or more wires, to receive the raw or processed data from sensors 215A - 215N. Controller 220 may include a memory 222 and a processor 224 coupled to memory 222. Memory 222 may be configured to store data, e.g., the raw or processed data received from sensing unit 210, as well as one or more sets of processor-executable instructions. At least one of the one or more sets of instructions may define an algorithm executable by processor 224 to detect at least one line identifying a bike lane on a road surface and to detect a deviation of the bicycle. For instance, processor 224 may process the received data using the algorithm to determine the presence of at least one line, e.g., line 110 and/or line 120, which defines or otherwise identifies a bike lane, e.g., bike lane 115, in the vicinity of the bicycle. In some embodiments, processor 224 may detect the presence of the at least one line in the vicinity of the bicycle based on a difference between a color or frequency of the at least one line and a color or frequency of the road surface. For instance, given that the lines used to identify a bike lane are typically painted in white and the color of the road surface is typically grey or dark grey, there is a difference in color as well as frequency (or wavelength) of the light reflected by the bike lane- identifying line(s) and by the road surface. Processor 224 may detect, using the information sensed by sensors 215A - 215N, a deviation of the bicycle with respect to the bike lane when the bicycle is traveling on the road surface. In response to detecting the deviation, processor 224 may generate a warning signal. In some embodiments, the presence of a line is detected using a combination of vision sensors (for image processing based on color) and optical sensors (for measuring frequency and intensity), which allows the system to distinguish between white lines and yellow lines, as well as distinguish between reflective, retro-reflective, and non-reflective paint used, for example, to apply lines on the road surface.

[0019] Warning unit 230 may be communicatively connected to controller 220, e.g., wirelessly or via one or more wires, to receive the warning signal. In response to receiving the warning signal, warning unit 230 may provide a warning indication, which may be in an audible form, a visual form, a mechanical form, or a combination of audible, visual and/or mechanical forms. For instance, warning unit 230 may be configured to provide a beeping sound, haptic pulse(s) of the handlebar grips, flashing light and/or mechanical vibrations, among other forms of intervention, to notify a cyclist of the bicycle of the deviation from the bike lane. In some embodiments, warning unit 230 may transmit a signal, e.g., wirelessly, to a portable device carried on the person of the cyclist of the bicycle, e.g., smartphone, to trigger the portable device, e.g., via an app executable by the portable device, to provide a warning indication to the cyclist.

[0020] FIG. 3 is a diagram depicting an example scenario 300 implementing an embodiment in accordance with the present disclosure. Example scenario 300 is one of many possible implementation scenarios based on example environment 100, and is provided solely for illustrative purpose so that those skilled in the art may better appreciate benefits and advantages provided by the present disclosure. Therefore, the scope of the present disclosure is not limited by example scenario 300.

[0021] In example scenario 300, a cyclist 350 rides a bicycle 340 which is equipped with a detection and warning device. Detection and warning device may be a built-in solution or an aftermarket solution. In the former case the combination of bike 340 and the detection and warning device may be considered as an apparatus. Detection and warning device may include a sensing unit having a number of sensors, including sensors 31 OA and 310B shown in FIG. 3, that are configured to sense information related to a road surface that has at least one line identifying a bike lane. Detection and warning device may also include a controller 320 which is communicatively coupled to the sensors of the sensing unit, e.g., wirelessly or via one or more wires. Controller 320 may be configured to detect, using the information sensed by the sensors of sensing unit (e.g., sensors 31 OA and 310B), a deviation of bicycle 340 with respect to the bike lane when bicycle 340 is traveling on the road surface. Controller 320 may also be configured to generate a warning signal in response to the detecting of the deviation. Detection and warning device may further include a warning unit 330 coupled to controller 320, e.g., wirelessly or via one or more wires. Warning unit 330 may be configured to provide a warning indication in response to receiving the warning signal from controller 320. Warning unit 320 may provide a warning indication, which may be in an audible form, a visual form, a mechanical form, or a combination of audible, visual and/or mechanical forms. For instance, warning unit 320 may be configured to provide a beeping sound, haptic pulse(s) of the handlebar grips, flashing light and/or mechanical vibrations, among other forms of intervention, to notify a cyclist of the bicycle of the deviation from the bike lane. In some embodiments, warning unit 320 may transmit a signal, e.g., wirelessly, to a portable device carried on the person of cyclist 350, e.g., smartphone, to trigger the portable device, e.g., via an app executable by the portable device, to provide a warning indication to cyclist 350.

[0022] FIG. 4 illustrates an example process 400 in accordance with an embodiment of the present disclosure. Example process 400 may include one or more operations, actions, or functions shown as blocks such as 410, 420 and 430. Although illustrated as discrete blocks, various blocks may be divided into additional blocks, combined into fewer blocks, or eliminated, depending on the desired implementation. Example process 400 may be implemented in example environment 100, example device 200 and/or example scenario 300. For simplicity of description and not limiting the scope thereof, example process 400 is described below in the context of example environment 100. Example process 400 may begin with block 410.

[0023] At 410, example process 400 may involve one or more of sensors 140A - 140D sensing information related to a road surface 105 that has at least one line 110 and 120 identifying a bike lane 115. Block 410 may be followed by block 420.

[0024] At 420, example process 400 may involve controller 150 detecting, using the information sensed by the one or more of sensors 140A - 140D, a deviation of a bicycle 130 with respect to bike lane 115 when bicycle 130 is traveling on road surface 105. Block 430 may be followed by block 430.

[0025] At 430, example process 400 may involve warning unit 160 providing a warning indication in response to the detecting of the presence of the at least one line.

[0026] In some embodiments, the sensing may be performed by the one or more of sensors 140 A - 140D, at least one of which may be directed toward road surface 105. Moreover, sensors 140 A - 140D may include one or more optical sensors, one or more imaging devices, or one or more optical sensors and one or more imaging devices. [0027] In some embodiments, sensors 140A - 140D, which may include one or more optical sensors, one or more imaging devices, or one or more optical sensors and one or more imaging devices, may be disposed at different locations on bicycle 130 and positioned at different angles with respect to road surface 105.

[0028] In some embodiments, in detecting the deviation of bicycle 130, example process 400 may involve controller 150 detecting a presence of the at least one line 110 or 120 in a vicinity of bicycle 130.

[0029] In some embodiments, in detecting of the presence of the at least one line 110 or 120 in the vicinity of bicycle 130, example process 400 may involve controller 150 detecting the presence of the at least one line 110 or 120 in the vicinity of bicycle 130 based on a difference between a color or frequency of the at least one line 110 or 120 and a color or frequency of road surface 105.

[0030] In some embodiments, example process 400 may further involve warning unit 160 providing a warning indication in response to the detecting of the presence of the at least one line 110 or 120.

[0031] The articles "a" and "an" are used herein to refer to one or to more than one (i.e., to at least one) of the grammatical object of the article. By way of example, "a user" means one user or more than one users. Reference throughout this specification to "one embodiment," "an embodiment," "one example," or "an example" means that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present disclosure. Thus, appearances of the phrases "in one embodiment," "in an embodiment," "one example," or "an example" in various places throughout this specification are not necessarily all referring to the same embodiment or example. Furthermore, the particular features, structures, databases, or characteristics may be combined in any suitable combinations and/or sub-combinations in one or more embodiments or examples. In addition, it should be appreciated that the figures provided herewith are for explanation purposes to persons ordinarily skilled in the art and that the drawings are not necessarily drawn to scale.

[0032] Embodiments in accordance with the present disclosure may be embodied as an apparatus, method, or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware-comprised embodiment, an entirely software-comprised embodiment (including firmware, resident software, micro-code or the like), or an embodiment combining software and hardware aspects that may all generally be referred to herein as a "circuit," "module," or "system." Furthermore, embodiments of the present disclosure may take the form of a computer program product embodied in any tangible medium of expression having computer-usable program code embodied in the medium.

[0033] The flow diagrams and block diagrams in the attached figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flow diagrams or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It will also be noted that each block of the block diagrams and/or flow diagrams, and combinations of blocks in the block diagrams and/or flow diagrams, may be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. These computer program instructions may also be stored in a computer-readable medium that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable medium produce an article of manufacture including instruction means which implement the function/act specified in the flow diagram and/or block diagram block or blocks.

[0034] Although the present disclosure is described in terms of certain embodiments, other embodiments will be apparent to those of ordinary skill in the art, given the benefit of this disclosure, including embodiments that do not provide all of the benefits and features set forth herein, which are also within the scope of this disclosure. It is to be understood that other embodiments may be utilized, without departing from the scope of the present disclosure.

Claims

1. A method, comprising:

sensing, by a plurality of sensors directed toward a road surface, information related to the road surface that has at least one line identifying a bike lane; and

detecting, using the sensed information, a deviation of a bicycle with respect to the bike lane when the bicycle is traveling on the road surface.

2. The method of claim 1, wherein the plurality of sensors comprises one or more optical sensors, one or more imaging devices, or a combination thereof.

3. The method of claim 2, wherein the one or more optical sensors or the one or more imaging devices are disposed at different locations on the bicycle and positioned at different angles with respect to the road surface.

4. The method of claim 1, wherein the detecting of the deviation of the bicycle comprises detecting a presence of the at least one line in a vicinity of the bicycle.

5. The method of claim 4, wherein the detecting of the presence of the at least one line in the vicinity of the bicycle comprises detecting the presence of the at least one line in the vicinity of the bicycle based on a difference between a color or frequency of the at least one line and a color or frequency of the road surface.

6. The method of claim 1, further comprising:

providing a warning indication in response to the detecting of the presence of the at least one line.

7. The method of claim 6, wherein the providing of the warning indication comprises providing the warning indication in an audible form, a visual form, a mechanical form, or a combination thereof.

8. An apparatus, comprising:

a sensing unit mountable on a bicycle and configured to sense information related to a road surface that has at least one line identifying a bike lane, the sensing unit comprising a plurality of sensors directed toward the road surface; and

a controller communicatively coupled to the sensing unit and configured to detect, using the information sensed by the sensing unit, a deviation of the bicycle with respect to the bike lane when the bicycle is traveling on the road surface.

9. The apparatus of claim 8, wherein the plurality of sensors comprises one or more optical sensors, one or more imaging devices, or a combination thereof.

10. The apparatus of claim 8, wherein the sensing unit comprises a plurality of sensors disposed at different locations on the bicycle and positioned at different angles with respect to the road surface.

11. The apparatus of claim 8, wherein the controller is configured to detect the deviation of the bicycle by detecting a presence of the at least one line in a vicinity of the bicycle.

12. The apparatus of claim 11, wherein the controller is configured to detect the presence of the at least one line in the vicinity of the bicycle based on a difference between a color or frequency of the at least one line and a color or frequency of the road surface.

13. The apparatus of claim 8, further comprising:

a warning unit coupled to the controller and configured to provide a warning indication in response to receiving a signal from the controller following the detecting of the deviation of the bicycle.

14. The apparatus of claim 8, wherein at least one of the plurality of sensors is configured to detect an intensity of light reflected from the road surface back to the sensor.

15. An apparatus, comprising:

a bicycle; and

a detection and warning device installed on the bicycle, comprising:

a sensing unit comprising a plurality of sensors that are directed toward a road surface and configured to sense information related to the road surface having at least one line identifying a bike lane;

a controller communicatively coupled to the sensing unit and configured to detect, using the information sensed by the sensors, a deviation of the bicycle with respect to the bike lane when the bicycle is traveling on the road surface, the controller also configured to generate a warning signal in response to the detecting of the deviation; and

a warning unit coupled to the controller and configured to provide a warning indication in response to receiving the warning signal from the controller.

16. The apparatus of claim 15, wherein the plurality of sensors comprise one or more optical sensors, one or more imaging devices, or a combination thereof at least one of which is directed toward the road surface.

17. The apparatus of claim 15, wherein the plurality of sensors are disposed at different locations on the bicycle and positioned at different angles with respect to the road surface.

18. The apparatus of claim 15, wherein the controller is configured to detect the deviation of the bicycle by detecting a presence of the at least one line in a vicinity of the bicycle.

19. The apparatus of claim 18, wherein the controller is configured to detect the presence of the at least one line in the vicinity of the bicycle based on a difference between a color or frequency of the at least one line and a color or frequency of the road surface.

20. The apparatus of claim 15, wherein the warning unit is configured to provide the warning indication in an audible form, a visual form, a mechanical form, or a combination thereof.