An in-vehicle system for identifying turn-only and shared turn lanes and identifying turn rules according to visual indicia captured from turn signs. An image apparatus configured to obtain image data including graphic data and/or text data from a roadway sign, as well as street light image data for an intersection on the roadway. The image data may be processed to detect a graphic image and/or text from the image data relating to the roadway sign. Street light image data may also be captured and processed to determine a street light status. An identification module may determine rules for turning on the intersection of the roadway based on the processed image data relating to the roadway sign, wherein the identification module is further configured to determine if the turn on the roadway is allowed based on the determined street light status.