Controlling host vehicle based on detection of a one-way road

• US 10,354,157 B2
• Filed: 06/27/2017
• Issued: 07/16/2019
• 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): Misleh, Justin P.
• Application Number:
  US15/634,400
• Publication Number:
  US 20170371343A1
• Time in Patent Office: 749 Days
• Field of Search: 382104
• 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 detecting whether a road on which a host vehicle travels is a one-way road may include at least one processing device. The processing device may be programmed to receive at least one image associated with an environment of the host vehicle, identify a first plurality of vehicles on a first side of the road, identify a second plurality of vehicles on a second side of the road, determine a first facing direction associated with the first plurality of vehicles, determine a second facing direction associated with the second plurality of vehicles, and cause at least one navigational change of the host vehicle when the first facing direction and the second facing direction are both opposite to a heading direction of the host vehicle.

Claims

1. A system for detecting whether a road on which a host vehicle travels is a one-way road, the system comprising:

at least one processing device programmed to;

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

identify, based on analysis of the at least one image, a first plurality of vehicles on a first side of the road on which the host vehicle travels;

identify, based on analysis of the at least one image, a second plurality of vehicles on a second side of the road on which the host vehicle travels, the second side being opposite to the first side;

determine a first facing direction associated with the first plurality of vehicles;

determine a second facing direction associated with the second plurality of vehicles; and

use the first facing direction and the second facing direction to determine that the host vehicle is on a one-way road and, in response to the determination, cause at least one navigational change of the host vehicle when the first facing direction and the second facing direction are both opposite to a heading direction of the host vehicle.

2. The system of claim 1, wherein the at least one processing device is further programmed to identify, based on analysis of the at least one image, a side of at least one of the first plurality of vehicles or at least one of the second plurality of vehicles.

3. The system of claim 2, wherein the identified side is a right side.

4. The system of claim 2, wherein the identified side is a left side.

5. The system of claim 2, wherein the at least one processing device is further programmed to identify the side based on at least two features associated with at least one of the first plurality of vehicles or at least one of the second plurality of vehicles.

6. The system of claim 1, wherein the at least one navigational change includes applying brakes of the host vehicle.

7. The system of claim 1, wherein the first plurality of vehicles and the second plurality of vehicles are parked.

8. A method for detecting whether a road on which a host vehicle travels is a one-way road, the method comprising:

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

identifying, based on analysis of the at least one image, a first plurality of vehicles on a first side of the road on which the host vehicle travels;

identifying, based on analysis of the at least one image, a second plurality of vehicles on a second side of the road on which the host vehicle travels, the second side being opposite to the first side;

determining a first facing direction associated with the first plurality of vehicles;

determining a second facing direction associated with the second plurality of vehicles; and

using the first facing direction and the second facing direction to determine that the host vehicle is on a one-way road and, in response to the determination, causing at least one navigational change of the host vehicle when the first facing direction and the second facing direction are both opposite to a heading direction of the host vehicle.

9. The method of claim 8, further comprising:

identify, based on analysis of at least one of the plurality of image images, a side of at least one of the first plurality of vehicles or at least one of the second plurality of vehicles.

10. The method of claim 9, wherein the identified side is a right side.

11. The method of claim 9, wherein the identified side is a left side.

12. The method of claim 9, further comprising:

identifying the side based on at least two features associated with at least one of the first plurality of vehicles or at least one of the second plurality of vehicles.

13. The method of claim 8, wherein the at least one navigational change includes applying brakes of the host vehicle.

14. 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 an environment of a host vehicle;

identifying, based on analysis of the at least one image, a first plurality of vehicles on a first side of a road on which the host vehicle travels;

identifying, based on analysis of the at least one image, a second plurality of vehicles on a second side of the road on which the host vehicle travels, the second side being opposite to the first side;

determining a first facing direction associated with the first plurality of vehicles;

determining a second facing direction associated with the second plurality of vehicles; and

using the first facing direction and the second facing direction to determine that the host vehicle is on a one-way road and, in response to the determination, causing at least one navigational change of the host vehicle when the first facing direction and the second facing direction are both opposite to a heading direction of the host vehicle.

15. The non-transitory computer-readable medium of claim 14, further storing instructions to:

identify, based on analysis of at least one of the plurality of image images, a side of at least one of the first plurality of vehicles or at least one of the second plurality of vehicles.

16. A system for navigating a host vehicle, the system comprising:

at least one processing device programmed to;

receive a navigation instruction to navigate the host vehicle from a first road on which the host vehicle is traveling to a second road;

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

identify, based on analysis of the at least one image, a first plurality of vehicles on a first side of the second road;

identify, based on analysis of the at least one image, a second plurality of vehicles on a second side of the second road, the second side being opposite to the first side;

determine a first facing direction associated with the first plurality of vehicles;

determine a second facing direction associated with the second plurality of vehicles;

use the first facing direction and the second facing direction to determine that the second road is a one-way road and, in response to the determination, determine that the first facing direction and the second facing direction are both opposite to a heading direction the host vehicle would travel if the host vehicle were to navigate onto the second road; and

suspend the navigation instruction in response to the determination that the first facing direction and the second facing direction are both opposite to the heading direction the host vehicle would travel if the host vehicle were to navigate onto the second road.

17. The system of claim 16, wherein the at least one processing device is further programmed to receive an override instruction to reinstate the suspended navigation instruction.

18. The system of claim 17, wherein the override instruction is initiated based on a manual confirmation received from a person inside the host vehicle.

19. The system of claim 17, wherein the override instruction is initiated based on accessing map data.

20. The system of claim 17, wherein the override instruction is initiated based on crowdsourced data related to a travel direction of the second road.