# US 10,319,225 B2 · System, method, and computer-readable storage medium for determining road type > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,319,225 B2 - Document ID: US10319225B2 - Status: Granted - Kind: B2 - Application number: 15/603,513 - Filed: 2017-05-24 - Published: 2018-11-29 - Granted: 2019-06-11 - Earliest claimed: 2017-05-24 - Assignees: Toyota Motor Engineering & Manufacturing North America, Inc. - Applicants: Toyota Motor Engineering & Manufacturing North America, Inc. - Inventors: Trenton B. Lindholm; Vladimeros Vladimerou - Web page: https://patentgrep.com/patent/US10319225B2 ## CPC - B60W 40/06: Road conditions - B60W 40/10: related to vehicle motion - G01P 3/44: for measuring angular speed (G01P3/56 takes precedence) - G06V 10/752: {Contour matching} - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G06V 20/582: {of traffic signs} - G08G 1/0108: {based on the source of data} - G08G 1/0137: {for specific applications} - G08G 1/04: using optical or ultrasonic detectors - G08G 1/054: photographing overspeeding vehicles - B60W 2520/10: Longitudinal speed - B60W 2540/18: Steering angle - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G}) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A system for determining a road type includes processing circuitry configured to receive information from a plurality of sensors. The information corresponds to one or more of operation of a host vehicle and an environment surrounding the host vehicle. Additionally, the system determines whether one or more of the plurality of sensors detects an off highway event, classifies the road type as a local road in response to one or more of the plurality of sensors detecting an off highway event, determines whether the speed of the host vehicle is greater than a first predetermined speed for a first predetermined amount of time, and classifies the road type as a limited access highway in response to the speed of the host vehicle being greater than the first predetermined speed for the first predetermined amount of time. ## Claims ### Claim 1 A system for determining a road type, comprising: processing circuitry configured to receive information from a plurality of sensors, wherein the information corresponds to one or more of operation of a host vehicle and an environment surrounding the host vehicle, determine whether one or more of the plurality of sensors detects an off highway event, classify the road type as a local road in response to one or more of the plurality of sensors detecting the off highway event, determine whether a speed of the host vehicle is greater than a first predetermined speed for a first predetermined amount of time, and classify the road type as a limited access highway in response to the speed of the host vehicle being greater than the first predetermined speed for the first predetermined amount of time. ### Claim 2 (depends on 1) The system of claim 1, wherein the plurality of sensors includes an imaging device, wherein the imaging device is configured to identify targets including a pedestrian, a lateral crossing vehicle, a preceding vehicle, an oncoming vehicle, and a sign. ### Claim 3 (depends on 2) The system of claim 2, wherein identifying one or more of the pedestrian, the lateral crossing vehicle, and one or more predetermined signs corresponds to the off highway event. ### Claim 4 (depends on 1) The system of claim 1, wherein the plurality of sensors includes a wheel speed sensor, wherein the wheel speed sensor is configured to determine the speed of the host vehicle. ### Claim 5 (depends on 1) The system of claim 1, wherein the plurality of sensors includes a steering wheel encoder, wherein the steering wheel encoder is configured to determine an angle of the steering wheel such that the angle of the steering wheel being within a predetermined range of angles corresponds to the off highway event. ### Claim 6 (depends on 1) The system of claim 1, wherein the plurality of sensors includes a predicted path curvature sensor, wherein the predicted path curvature sensor is configured to determine a radius of curvature of the road, wherein the radius of curvature being less than a predetermined radius corresponds to the host vehicle being on the local road. ### Claim 7 (depends on 1) The system of claim 1, wherein the processing circuitry is further configured to determine whether a preceding vehicle is detected and whether the speed of the host vehicle is less than a threshold speed for greater than a second predetermined amount of time. ### Claim 8 A method for determining a road type, comprising: receiving information from a plurality of sensors, wherein the information corresponds to one or more of operation of a host vehicle and an environment surrounding the host vehicle; determining, via processing circuitry, whether one or more of the plurality of sensors detects an off highway event; classifying, via the processing circuitry, the road type as a local road in response to one or more of the plurality of sensors detecting the off highway event; determining, via the processing circuitry, whether a speed of the host vehicle is greater than a first predetermined speed for a first predetermined amount of time, and classifying the road type as a limited access highway in response to the speed of the host vehicle being greater than the first predetermined speed for the first predetermined amount of time. ### Claim 9 (depends on 8) The method of claim 8, wherein the plurality of sensors includes an imaging device, wherein the imaging device is configured to identify targets including a pedestrian, a lateral crossing vehicle, a preceding vehicle, an oncoming vehicle, and a sign. ### Claim 10 (depends on 9) The method of claim 9, further comprising: identifying one or more of the pedestrian, the lateral crossing vehicle, and one or more predetermined signs as the off highway event. ### Claim 11 (depends on 8) The method of claim 8, further comprising: determining the speed of the host vehicle via one or more wheel speed sensors. ### Claim 12 (depends on 8) The method of claim 8, further comprising: determining an angle of a steering wheel of the host vehicle via a steering wheel encoder such that the angle of the steering wheel being within a predetermined range of angles corresponds to the off highway event. ### Claim 13 (depends on 8) The method of claim 8, further comprising: determining a radius of curvature of the road, wherein the radius of curvature being less than a predetermined radius corresponds to the host vehicle being on the local road. ### Claim 14 (depends on 8) The method of claim 8, further comprising: determining whether a preceding vehicle is detected and whether the speed of the host vehicle is less than a threshold speed for greater than a second predetermined amount of time. ### Claim 15 A non-transitory computer-readable storage medium storing computer-readable instructions thereon which, when executed by a computer, cause the computer to perform a method, the method comprising: receiving information from a plurality of sensors, wherein the information corresponds to one or more of operation of a host vehicle and an environment surrounding the host vehicle; determining whether one or more of the plurality of sensors detects an off highway event; classifying the road type as a local road in response to one or more of the plurality of sensors detecting the off highway event; determining whether a speed of the host vehicle is greater than a first predetermined speed for a first predetermined amount of time, and classifying the road type as a limited access highway in response to the speed of the host vehicle being greater than the first predetermined speed for the first predetermined amount of time. ### Claim 16 (depends on 15) The non-transitory computer-readable storage medium of claim 15, wherein the plurality of sensors includes an imaging device, wherein the imaging device is configured to identify targets including a pedestrian, a lateral crossing vehicle, a preceding vehicle, an oncoming vehicle, and a sign. ### Claim 17 (depends on 16) The non-transitory computer-readable storage medium of claim 16, further comprising: identifying one or more of the pedestrian, the lateral crossing vehicle, and one or more predetermined signs as the off highway event. ### Claim 18 (depends on 15) The non-transitory computer-readable storage medium of claim 15, further comprising: determining an angle of a steering wheel of the host vehicle via a steering wheel encoder such that the angle of the steering wheel being within a predetermined range of angles corresponds to the off highway event. ### Claim 19 (depends on 15) The non-transitory computer-readable storage medium of claim 15, further comprising: determining a radius of curvature of the road, wherein the radius of curvature being less than a predetermined radius corresponds to the host vehicle being on the local road. ### Claim 20 (depends on 15) The non-transitory computer-readable storage medium of claim 15, further comprising: determining whether a preceding vehicle is detected and whether the speed of the host vehicle is less than a threshold speed for greater than a second predetermined amount of time.