Controlling host vehicle based on detected door opening events

• US 10,262,217 B2
• Filed: 06/27/2017
• Issued: 04/16/2019
• Est. Priority Date: 06/27/2016
• Status: Active Grant

• Current Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Original Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Inventors: Cohen, Barak, Stein, Gideon
• Primary Examiner(s): Mustafa, Imran K
• Application Number:
  US15/634,310
• Publication Number:
  US 20170371347A1
• Time in Patent Office: 658 Days
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/228 Command input arrangements located on-board unmanned vehicles
• CPC Class Codes: G05D 1/249 from positioning sensors located off-board the vehicle, e.g. from cameras
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10021 Stereoscopic video; Stereoscopic image sequence
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/10048 Infrared image
• CPC Class Codes: G06T 2207/20081 Training; Learning
• CPC Class Codes: G06T 2207/20084 Artificial neural networks [ANN]
• CPC Class Codes: G06T 2207/30252 Vehicle exterior; Vicinity of vehicle
• CPC Class Codes: G06T 2207/30256 Lane; Road marking
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 2207/30264 Parking
• CPC Class Codes: G06T 7/269 using gradient-based methods
• CPC Class Codes: G06T 7/277 involving stochastic approaches, e.g. using Kalman filters
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light
• CPC Class Codes: G06T 7/579 from motion
• CPC Class Codes: G06T 7/593 : from stereo images
• CPC Class Codes: G06T 7/73 : using feature-based methods
• CPC Class Codes: G06V 20/584 : of vehicle lights or traffic lights

Abstract

Systems and methods are provided for navigating an autonomous vehicle. In one implementation, a system for navigating a host vehicle based on detecting a door opening event may include at least one processing device. The processing device may be programmed to receive at least one image associated with the environment of the host vehicle, analyze the at least one image to identify a side of a parked vehicle, identify a first structural feature of the parked vehicle and a second structural feature of the parked vehicle, identify a door edge of the parked vehicle in a vicinity of the first and second structural features, determine a change of an image characteristic of the door edge of the parked vehicle, and alter a navigational path of the host vehicle based at least in part on the change of the image characteristic of the door edge of the parked vehicle.

Claims

1. A system for navigating a host vehicle based on detecting a door opening event in an environment of the vehicle, the system comprising:

at least one processing device programmed to;

receive, from an image capture device, at least one image associated with the environment of the host vehicle;

analyze the at least one image to identify a side of a parked vehicle;

identify, in the at least one image, a first structural feature of the parked vehicle in a forward region of the side of the parked vehicle and a second structural feature of the parked vehicle in a rear region of the side of the parked vehicle;

identify, in the at least one image, a door edge of the parked vehicle in a vicinity of the first and second structural features;

determine, based on analysis of one or more subsequent images received from the image capture device, a change of an image characteristic of the door edge of the parked vehicle; and

alter a navigational path of the host vehicle based at least in part on the change of the image characteristic of the door edge of the parked vehicle.

2. The system of claim 1, wherein identifying the side of the parked vehicle includes associating at least one bounding box with a shape of the side of the parked vehicle.

3. The system of claim 1, wherein the first structural feature includes a front wheel component of the parked vehicle and the second structural feature includes a rear wheel component of the parked vehicle.

4. The system of claim 1, wherein the vicinity of the first and second structural features includes a region between a front wheel component of the parked vehicle and a rear wheel component of the parked vehicle.

5. The system of claim of 4, wherein the vicinity of the first and second wheel components further includes a region above a rear wheel component of the parked vehicle.

6. The system of claim 1, wherein the change of the image characteristic of the door edge includes a widening of the door edge.

7. The system of claim 1, wherein the change of the image characteristic of the door edge includes a separation of the door edge from the body of the vehicle.

8. The system of claim 1, wherein determining the change of the image characteristic of the door edge includes monitoring at least two images received from the image capture device for an appearance of a vertical stripe in the vicinity of the first and second wheel components.

9. The system of claim 8, wherein determining the change of the image characteristic of the door edge further includes monitoring an expansion of the vertical stripe.

10. The system of claim 9, wherein a first edge of the vertical stripe is fixed along a body of the parked vehicle in the monitored images, and a second edge of the vertical stripe moves toward a front region of the parked vehicle in the monitored images.

11. The system of claim 10, wherein the at least one processing device is further configured to determine a width of the vertical stripe.

12. The system of claim 11, wherein the at least one processing device is further configured to determine a distance that the door edge extends away from the parked vehicle based on the determined width.

13. The system of claim 12, wherein the at least one processing device is further configured to determine a lateral safety distance for the host vehicle based on the determined distance that the door edge extends away from the parked vehicle.

14. The system of claim 13, wherein altering the navigational path of the host vehicle is based on the determined lateral safety distance.

15. A method for navigating a host vehicle based on detecting a door opening event in an environment of the vehicle, the method comprising:

receiving, from an image capture device, at least one image associated with the environment of the host vehicle;

analyzing the at least one image to identify a side of a parked vehicle;

identifying, in the at least one image, a first structural feature of the parked vehicle in a forward region of the side of the parked vehicle and a second structural feature of the parked vehicle in a rear region of the side of the parked vehicle;

identifying, in the at least one image, a door edge of the parked vehicle in a vicinity of the first and second structural features;

determining, based on analysis of one or more subsequent images received from the image capture device, a change of an image characteristic of the door edge of the parked vehicle; and

altering a navigational path of the host vehicle based at least in part on the change of the image characteristic of the door edge of the parked vehicle.

16. The method of claim 15, wherein determining the change of the image characteristic of the door edge includes monitoring at least two images received from the image capture device for an appearance of a vertical stripe in the vicinity of the first and second structural features.

17. The method of claim 16, wherein determining the change of the image characteristic of the door edge further includes monitoring an expansion of the vertical stripe.

18. The method of claim 17, further comprising:

determining a width of the vertical stripe; and

determining a distance that the door edge extends away from the parked vehicle based on the determined width.

19. The method of claim 18, further comprising:

determining a lateral safety distance for the host vehicle based on the determined distance that the door edge extends away from the parked vehicle, and

wherein altering the navigational path of the host vehicle is based on the determined lateral safety distance.

20. A non-transitory computer-readable medium storing instructions, which, when executed by at least one processing device, perform a method comprising:

receiving, from an image capture device, at least one image associated with the environment of the host vehicle;

analyzing the at least one image to identify a side of a parked vehicle;

identifying, in the at least one image, a first structural feature of the parked vehicle in a forward region of the side of the parked vehicle and a second structural feature of the parked vehicle in a rear region of the side of the parked vehicle;

identifying, in the at least one image, a door edge of the parked vehicle in a vicinity of the first and second structural features;

determining, based on analysis of one or more subsequent images received from the image capture device, a change of an image characteristic of the door edge of the parked vehicle; and

altering a navigational path of the host vehicle based at least in part on the change of the image characteristic of the door edge of the parked vehicle.