Controlling host vehicle based on a predicted state of a parked vehicle

• US 10,303,959 B2
• Filed: 06/27/2017
• Issued: 05/28/2019
• 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): Coleman, Stephen P
• Application Number:
  US15/634,482
• Publication Number:
  US 20170371345A1
• Time in Patent Office: 700 Days
• Field of Search: None
• 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 determining a predicted state of a parked vehicle in an environment of a host vehicle may include an image capture device, an infrared image capture device, and at least one processing device. The processing device may be programmed to receive a plurality of images associated with the environment of the host vehicle, analyze at least one of the plurality of images to identify the parked vehicle, analyze at least two of the plurality of images to identify a change in an illumination state of at least one light associated with the parked vehicle, receive at least one thermal image of the parked vehicle, determine the predicted state of the parked vehicle, and cause at least one navigational response by the host vehicle based on the predicted state of the parked vehicle.

Claims

1. A system for determining a predicted state of a parked vehicle in an environment of a host vehicle, the system comprising:

an image capture device;

an infrared image capture device; and

at least one processing device programmed to;

receive, from the image capture device, a plurality of images associated with the environment of the host vehicle;

analyze at least one of the plurality of images to identify the parked vehicle;

analyze at least two of the plurality of images to identify a change in an illumination state of at least one light associated with the parked vehicle;

receive, from the infrared image capture device, at least one thermal image of the parked vehicle;

determine, based on the change in the illumination state and analysis of the at least one thermal image, the predicted state of the parked vehicle; and

cause at least one navigational response by the host vehicle based on the predicted state of the parked vehicle.

2. The system of claim 1, wherein the predicted state of the parked vehicle includes at least one of:

an indication that the parked vehicle is not expected to move within a predetermined time period, an indication that the parked vehicle is expected to move within a predetermined time period, or an indication that a door of the parked vehicle is expected to open within a predetermined time period.

3. The system of claim 1, wherein the at least one processing device is further programmed to:

align at least one of the plurality of images with the at least one thermal image; and

identify at least one of the engine area or at least one wheel component area of the parked vehicle in the aligned at least one thermal image.

4. The system of claim 1, wherein the change in the illumination state of the at least one light associated with the parked vehicle includes a change from a non-illuminated state to an illuminated state.

5. The system of claim 4, wherein the predicted state of the parked vehicle includes an indication that an engine of the parked vehicle has been started.

6. The system of claim 1, wherein the change in the illumination state of the at least one light associated with the parked vehicle includes a change from an illuminated state to a non-illuminated state.

7. The system of claim 6, wherein the predicted state of the parked vehicle includes an indication that an engine of the parked vehicle has been turned off.

8. The system of claim 1, wherein the analysis of the at least one thermal image includes determining a temperature value of an engine area of the parked vehicle.

9. The system of claim 8, wherein the predicted state of the parked vehicle is determined based at least in part on a comparison of the temperature value to a threshold.

10. The system of claim 9, wherein, when temperature value is lower than a threshold value, the predicted state of the parked vehicle includes an indication that the parked vehicle is not expected to move within a predetermined time period.

11. The system of claim 1, wherein the analysis of the at least one thermal image includes determining a first temperature value of an engine area of the parked vehicle and a second temperature value of at least one wheel component of the parked vehicle.

12. The system of claim 11, wherein the predicted state of the parked vehicle is determined based on a comparison of the first temperature value to a first threshold and a comparison of the second temperature value to a second threshold.

13. The system of claim 11, wherein, when the first temperature value exceeds a first threshold and the second temperature value is lower than a second threshold, the predicted state of the parked vehicle includes an indication that the parked vehicle is expected to move within a predetermined time period.

14. The system of claim 11, wherein, when the first temperature value exceeds a first threshold and the second temperature value exceeds a second threshold, the predicted state of the parked vehicle includes an indication that a door of the parked vehicle is expected to open within a predetermined time period.

15. A method for determining a predicted state of a parked vehicle in an environment of a host vehicle, the method comprising:

receiving, from an image capture device, a plurality of images associated with the environment of the host vehicle;

analyzing at least one of the plurality of images to identify the parked vehicle;

analyzing at least two of the plurality of images to identify a change in an illumination state of at least one light associated with the parked vehicle;

receiving, from an infrared image capture device, at least one thermal image of the parked vehicle;

determining, based on the change in the illumination state and analysis of the at least one thermal image, the predicted state of the parked vehicle; and

causing at least one navigational response by the host vehicle based on the predicted state of the parked vehicle.

16. The method of claim 15, wherein:

the analysis of the at least one thermal image includes determining a temperature value of an engine area of the parked vehicle, and

when the temperature value is lower than a threshold value, the predicted state of the parked vehicle includes an indication that the parked vehicle is not expected to move within a predetermined time period.

17. The method of claim 15, wherein:

the analysis of the at least one thermal image includes determining a first temperature value of an engine area of the parked vehicle and a second temperature value of at least one wheel component of the parked vehicle, and

when the first temperature value exceeds a first threshold and the second temperature value is lower than a second threshold, the predicted state of the parked vehicle includes an indication that the parked vehicle is expected to move within a predetermined time period.

18. The method of claim 15, wherein:

the analysis of the at least one thermal image includes determining a first temperature value of an engine area of the parked vehicle and a second temperature value of at least one wheel component of the parked vehicle, and

when the first temperature value exceeds a first threshold and the second temperature value exceeds a second threshold, the predicted state of the parked vehicle includes an indication that a door of the parked vehicle is expected to open within a predetermined time period.

19. The method of claim 15, further comprising:

aligning at least of the plurality of images with the at least one thermal image; and

identifying at least one of the engine area or at least one wheel component area of the parked vehicle in the aligned at least one thermal image.

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, a plurality of images associated with an environment of a host vehicle;

analyzing at least one of the plurality of images to identify a parked vehicle;

analyzing at least two of the plurality of images to identify a change in an illumination state of at least one light associated with the parked vehicle;

receiving, from an infrared image capture device, at least one thermal image of the parked vehicle;

determining, based on the change in the illumination state and analysis of the at least one thermal image, the predicted state of the parked vehicle; and

causing at least one navigational response by the host vehicle based on the predicted state of the parked vehicle.

21. A system for determining a predicted state of a parked vehicle in an environment of a host vehicle, the system comprising:

an image capture device;

at least one processing device programmed to;

receive, from the image capture device, a plurality of images associated with the environment of the host vehicle;

analyze at least one of the plurality of images to identify the parked vehicle;

analyze at least two of the plurality of images to identify a change in an illumination state of at least one light associated with the parked vehicle;

determine, based on the change in the illumination state, the predicted state of the parked vehicle; and

cause at least one navigational response by the host vehicle based on the predicted state of the parked vehicle.

22. The system of claim 21, wherein the change in the illumination state of the at least one light associated with the parked vehicle includes a change from a non-illuminated state to an illuminated state.

23. The system of claim 22, wherein the predicted state of the parked vehicle includes an indication that an engine of the parked vehicle has been started.

24. The system of claim 21, wherein the change in the illumination state of the at least one light associated with the parked vehicle includes a change from an illuminated state to a non-illuminated state.

25. The system of claim 24, wherein the predicted state of the parked vehicle includes an indication that an engine of the parked vehicle has been turned off.