Methods and systems for electronically assisted lane entrance

1. A method of assisting movement of a vehicle from one lane to another via a lane assistance computer, the method comprising:

detecting, based at least in part on one or more images captured from an imaging sensor of the vehicle:

a restricted access lane in which access is restricted to vehicles that satisfy predetermined entrance parameters, wherein the restricted access lane comprises a carpool lane, and

an entrance to the restricted access lane a distance in front of the vehicle;

determining the predetermined entrance parameters that must be satisfied for access to the restricted access lane, wherein the predetermined entrance parameters comprise a minimum number of occupants;

reading input from one or more occupant sensors to determine a number of occupants in the vehicle;

determining whether the vehicle satisfies the predetermined entrance parameters based at least in part on comparing the number of occupants to the minimum number of occupants; and

at least partly in response to determining that the vehicle satisfies the predetermined entrance parameters, generating an output signal for electronically controlling the vehicle to enter the restricted access lane via the entrance.

2. The method of claim 1 , further comprising generating the output signal based on at least one additional factor that indicates whether the vehicle should enter the restricted access lane.

3. The method of claim 2 , further comprising generating an audio or visual alert based on the predetermined entrance parameters, at least one additional factor, and the output signal.

4. The method of claim 1 , further comprising reading data from a map database indicating a position of the entrance to the restricted access lane, and detecting the entrance to the restricted access based at least in part on the data from the map database.

5. The method of claim 1 , further comprising:

capturing a plurality of images of a scene in front of the vehicle;

determining whether a line on a left side of the vehicle is a dashed line or a solid line based on the plurality of images; and

detecting the entrance based on whether the line is dashed or solid.

6. The method of claim 2 , further comprising:

capturing an image of a scene in front of the vehicle using the imaging sensor;

detecting a car pool sign within the image;

detecting a position of the entrance based on the car pool sign, wherein the at least one additional factor includes the position of the entrance relative to a position of the vehicle; and

determining whether to enter the restricted access lane based at least partly on the position of the entrance relative to the position of the vehicle.

7. The method of claim 1 , further comprising:

capturing an image of a scene in front of the vehicle using the imaging sensor;

detecting a car pool sign within the image;

determining a time restriction of the restricted access lane based on the car pool sign; and

determining one of the predetermined entrance parameters based on the time restriction.

8. The method of claim 2 , further comprising:

determining a position of an exit from the restricted access lane, wherein the at least one additional factor includes the position of the exit; and

determining whether to enter the restricted access lane based at least in part on the determined position of the exit.

9. The method of claim 8 , further comprising:

determining a destination for the vehicle from a navigation computer, wherein the at least one additional factor also include the destination; and

determining whether to enter the restricted access lane based at least in part on the position of the exit and the determined destination.

10. A vehicle that provides electronic assistance for lane changes, comprising:

an imaging sensor;

a lane assistance computer, operably coupled to the imaging sensor, and configured to:

detect an entrance to a restricted access lane within a threshold distance in front of the vehicle based on images captured by the imaging sensor, wherein the restricted access lane comprises a carpool lane, wherein access to the restricted access lane is restricted to vehicles that satisfy entrance parameters,

determine the entrance parameters for the restricted access lane, wherein the predetermined entrance parameters comprise a minimum number of occupants,

read input from the occupant sensor to determine a number of occupants in the vehicle,

determine whether the vehicle satisfies the entrance parameters based at least partly on comparing the number of occupants to the minimum number of occupants, and

at least partly in response to determining that the vehicle satisfies the entrance parameters, generate an output signal for electronically controlling the vehicle to enter the restricted access lane via the entrance.

11. The vehicle of claim 10 , further comprising a speaker, wherein the lane assistance computer is configured to generate the output signal as an audio alert using the speaker, wherein the alert is generated based on the entrance parameters.

12. The vehicle of claim 10 , further comprising a light, wherein the lane assistance computer is configured to generate the output signal as a visual alert using the light, wherein the visual alert is generated based on the entrance parameters.

13. The vehicle of claim 10 , further comprising:

a steering gear; and

an electronic steering controller, wherein the lane assistance computer is configured to change a lane of the vehicle by generating the output signal to cause mechanical actuation of the steering gear via the electronic steering controller.

14. The vehicle of claim 10 , wherein the lane assistance computer is further configured to read data from a map database indicating a position of the entrance to the restricted access lane, and detecting the entrance to the restricted access based, at least in part, on the data.

15. The vehicle of claim 10 , wherein the lane assistance computer is further configured to:

capture a plurality of images of a scene in front of the vehicle using the imaging sensor;

determine whether a line on a left side of the vehicle is a dashed line or a solid line based on the plurality of images; and

determine the entrance parameters based on whether the line is dashed or solid.

16. The vehicle of claim 10 , wherein the lane assistance computer is further configured to:

capture an image of a scene in front of the vehicle via the imaging sensor,

detect a car pool sign within the image,

detect a position of the entrance based at least in part on the car pool sign, and

determine the entrance parameters based on the position of the entrance.

17. The vehicle of claim 10 , wherein the lane assistance computer is further configured to:

capture an image of a scene in front of the vehicle via the imaging sensor,

detect a car pool sign within the image,

determine a time restriction of the restricted access lane based on the car pool sign, and

determine the entrance parameters based on the time restriction.

18. The vehicle of claim 10 , wherein the lane assistance computer is further configured to:

determine a position of an exit from the restricted access lane, and

determine whether to enter the restricted access lane based at least in part on the determined position of the exit.

19. The vehicle of claim 18 , wherein the lane assistance computer is further configured to:

determine a destination for the vehicle from a navigation computer, and

determine whether to enter the restricted access lane based at least in part on the position of the exit and the determined destination.

20. An apparatus for assisting movement of a vehicle from one lane to another, comprising:

an electronic hardware processor;

an electronic hardware memory, operably coupled to the processor, and storing instructions that configure the electronic hardware processor to:

detect an entrance to a restricted access lane within a threshold distance in front of the vehicle, wherein access to the restricted access lane is restricted to vehicles that satisfy entrance parameters, wherein the restricted access lane comprises a carpool lane,

determine the entrance parameters for the restricted access lane, wherein the predetermined entrance parameters comprise a minimum number of occupants,

read input from one or more occupant sensors to determine a number of occupants in the vehicle,

determine whether the vehicle satisfies the entrance parameters based at least in part on comparing the number of occupants to the minimum number of occupants, and

at least partly in response to determining that the vehicle satisfies the entrance parameters, generate an output signal for electronically controlling the vehicle to enter the restricted access lane via the entrance.

21. The apparatus of claim 20 , wherein the electronic memory stores further instructions that configure the electronic hardware processor to generate an audio or visual alert based on the entrance parameters.

22. The apparatus of claim 20 , wherein the electronic memory stores further instructions that configure the electronic hardware processor to:

read data from a map database indicating a position of an entrance to the restricted access lane, and

detect the entrance to the restricted access lane based, at least in part, on the data.

23. The apparatus of claim 20 , wherein the electronic memory stores further instructions that configure the electronic hardware processor to

capture a plurality of images of a scene in front of the vehicle,

determine whether a line on a left side of the vehicle is a dashed line or a solid line based on the plurality of images, and

determine the entrance parameters based on whether the line is dashed or solid.

24. The apparatus of claim 20 , wherein the electronic memory stores further instructions that configure the electronic hardware processor to

capture an image of a scene in front of the vehicle,

detect a car pool sign within the image, and

detect a position of the entrance based on the car pool sign.

25. The apparatus of claim 20 , wherein the electronic memory stores further instructions that configure the electronic hardware processor to

capture an image of a scene around the vehicle,

detect a car pool sign within the image,

determine a time restriction of the restricted access lane based on the car pool sign;

determine at least one of the entrance parameters based on the time restriction.

26. The apparatus of claim 20 , wherein the electronic memory stores further instructions that configure the electronic hardware processor to

determine a position of an exit from the restricted access lane, wherein one of the entrance parameters comprises the position of the exit, and

determine whether to enter the restricted access lane based at least in part on the determined position of the exit.

27. The apparatus of claim 26 , wherein the electronic memory stores further instructions that configure the electronic hardware processor to:

determine a destination for the vehicle from a navigation computer; and

determine whether to enter the restricted access lane based at least in part on the position of the exit and the determined destination.

28. A non-transitory computer readable storage medium comprising instructions that when executed cause a processor to perform a method of assisting movement of a vehicle from one lane to another, the method comprising:

detecting an entrance to a restricted access lane within a threshold distance in front of the vehicle, wherein access to the restricted access lane is restricted to vehicles that satisfy entrance parameters, wherein the restricted access lane comprises a carpool lane;

reading input from one or more occupant sensors to determine a number of occupants in the vehicle;

determining the entrance parameters for the restricted access lane, wherein the predetermined entrance parameters comprise a minimum number of occupants;

determining whether the vehicle satisfies the entrance parameters based at least in part on comparing the number of occupants to the minimum number of occupants; and

at least partly in response to determining that the vehicle satisfies the entrance parameters, generating an output signal for electronically controlling the vehicle to enter the restricted access lane via the entrance.

29. The computer readable storage medium of claim 28 , the method further comprising generating an audio or visual alert based on the entrance parameters.

30. The computer readable storage medium of claim 28 , the method further comprising reading data from a map database indicating a position of an entrance to restricted access lane, and detecting the entrance to the restricted access lane based, at least in part, on the data.

31. The computer readable storage medium of claim 28 , the method further comprising:

capturing a plurality of images of a scene in front of the vehicle;

determining whether a line on a left side of the vehicle is a dashed line or a solid line based on the plurality of images; and

determining the entrance parameters based on whether the line is dashed or solid.

32. The computer readable storage medium of claim 28 , the method further comprising:

capturing an image of a scene in front of the vehicle;

detecting a car pool sign within the image;

determining the entrance parameters based on the car pool sign.

33. The computer readable storage medium of claim 32 , the method further comprising

determining a time restriction of the restricted access lane based on the car pool sign;

determining the entrance parameters based on the time restriction.

34. The computer readable storage medium of claim 28 , the method further comprising

determining a position of an exit from the restricted access lane; and

determining whether to enter the restricted access lane based at least in part on the determined position of the exit.

35. The computer readable storage medium of claim 34 , the method further comprising

determining a destination for the vehicle from a navigation computer; and

determining whether to enter the restricted access lane based at least in part on the position of the exit relative to the determined destination.