Predicting and responding to cut in vehicles and altruistic responses

• US 10,452,069 B2
• Filed: 11/23/2016
• Issued: 10/22/2019
• Est. Priority Date: 11/26/2015
• Status: Active Grant

• Current Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Original Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Inventors: Stein, Gideon
• Primary Examiner(s): Perez-Fuentes, Luis
• Application Number:
  US15/360,141
• Publication Number:
  US 20170154225A1
• Time in Patent Office: 1,063 Days
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 60/0016 of the vehicle or its occupants
• CPC Class Codes: B60W 60/00274 considering possible movement changes
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
• CPC Class Codes: G08G 1/09623 Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle G08G1/0967 takes precedence
• CPC Class Codes: G08G 1/09626 where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Systems and methods are provided for detecting and responding to cut in vehicles, and for navigating while taking into consideration an altruistic behavior parameter. In one implementation, a vehicle cut in detection and response system for a host vehicle system may include a data interface and at least one processing device. The at least one processing device may be programmed to receive, via the data interface, a plurality of images from at least one image capture device associated with the host vehicle; identify, in the plurality of images, a representation of a target vehicle traveling in a first lane different from a second lane in which the host vehicle is traveling; identify, based on analysis of the plurality of images, at least one indicator that the target vehicle will change from the first lane to the second lane; detect whether at least one predetermined cut in sensitivity change factor is present in an environment of the host vehicle; cause a first navigational response in the host vehicle based on the identification of the at least one indicator and based on a value associated with a first cut in sensitivity parameter where no predetermined cut in sensitivity change factor is detected; and cause a second navigational response in the host vehicle based on the identification of the at least one indicator and based on a value associated with a second cut in sensitivity parameter where the at least one predetermined cut in sensitivity change factor is detected, the second cut in sensitivity parameter being different from the first cut in sensitivity parameter.

Claims

1. A vehicle cut in detection and response system for a host vehicle, the system comprising:

a data interface; and

at least one processing device programmed to;

receive, via the data interface, a plurality of images from at least one image capture device associated with the host vehicle;

identify, in the plurality of images, a representation of a target vehicle traveling in a first lane different from a second lane in which the host vehicle is traveling;

identify, based on analysis of the plurality of images, at least one indicator that the target vehicle will change from the first lane to the second lane;

detect whether at least one predetermined cut in sensitivity change factor is present in an environment of the host vehicle;

cause a first navigational response in the host vehicle based on the identification of the at least one indicator and based on a value associated with a first cut in sensitivity parameter where no predetermined cut in sensitivity change factor is detected, the first cut in sensitivity parameter representing a first sensitivity to the at least one indicator; and

cause a second navigational response in the host vehicle based on the identification of the at least one indicator and based on a value associated with a second cut in sensitivity parameter where the at least one predetermined cut in sensitivity change factor is detected, the second cut in sensitivity parameter representing a second sensitivity to the at least one indicator that is different than the first cut in sensitivity parameter.

2. The system of claim 1, wherein the predetermined cut in sensitivity change factor includes an end of lane condition, and wherein the value associated with the second cut in sensitivity parameter is lower than the value associated with the first cut in sensitivity parameter.

3. The system of claim 2, wherein the end of lane condition is determined based on analysis of the plurality of images.

4. The system of claim 2, wherein the end of lane condition is determined based on available map data and an output of a location determination system associated with the host vehicle.

5. The system of claim 1, wherein the predetermined cut in sensitivity change factor includes an obstruction in a path of the target vehicle, and wherein the value associated with the second cut in sensitivity parameter is lower than the value associated with the first cut in sensitivity parameter.

6. The system of claim 5, wherein the obstruction includes a vehicle determined based on the plurality of images to be moving more slowly than the target vehicle.

7. The system of claim 1, wherein the predetermined cut in sensitivity change factor includes a lane shift ahead of the target vehicle, and wherein the value associated with the second cut in sensitivity parameter is lower than the value associated with the first cut in sensitivity parameter.

8. The system of claim 7, wherein the lane shift is detected based on analysis of the plurality of images.

9. The system of claim 7, wherein the lane shift is detected based on available map data and an output of a location determination system associated with the host vehicle.

10. The system of claim 1, wherein the predetermined cut in sensitivity change factor includes a particular geographical area in which the target vehicle is located, and wherein the value associated with the second cut in sensitivity parameter is lower than the value associated with the first cut in sensitivity parameter.

11. The system of claim 10, wherein the particular geographical area is identified based on analysis of the plurality of images.

12. The system of claim 10, wherein the particular geographical area is identified based on an output of a location determination system associated with the host vehicle.

13. The system of claim 10, wherein the particular geographical area includes a country.

14. The system of claim 1, wherein the second navigational response includes at least one of slowing of the vehicle, accelerating the vehicle, or changing lanes.

15. The system of claim 1, wherein detecting whether at least one predetermined cut in sensitivity change factor is present in an environment of the host vehicle is based on analysis of the plurality of images.

19. The host vehicle of claim 15, wherein the predetermined cut in sensitivity change factor includes a lane shift ahead of the target vehicle, and wherein the value associated with the second cut in sensitivity parameter is lower than the value associated with the first cut in sensitivity parameter.

21. The system of claim 1, wherein

the at least one indicator comprises an indication based on a movement of the target vehicle;

and

the at least one predetermined cut in sensitivity change factor represents one or more features present in the environment of the host vehicle indicative of a likelihood that the target vehicle will change from the first lane to the second lane.

22. The system of claim 21, wherein the at least one predetermined cut in sensitivity change factor is detected based on available map data and an output of a location determination system associated with the host vehicle.

16. A host vehicle, the host vehicle comprising:

a body;

at least one image capture device; and

at least one processing device programmed to;

receive a plurality of images from the at least one image capture device;

identify, in the plurality of images, a representation of a target vehicle traveling in a first lane different from a second lane in which the host vehicle is traveling;

identify, based on analysis of the plurality of images, at least one indicator that the target vehicle will change from the first lane to the second lane;

detect whether at least one predetermined cut in sensitivity change factor is present in an environment of the host vehicle;

cause a first navigational response in the host vehicle based on the identification of the at least one indicator and based on a value associated with a first cut in sensitivity parameter where no predetermined cut in sensitivity change factor is detected, the first cut in sensitivity parameter representing a first sensitivity to the at least one indicator; and

cause a second navigational response in the host vehicle based on the identification of the at least one indicator and based on a value associated with a second cut in sensitivity parameter where the at least one predetermined cut in sensitivity change factor is detected, the second cut in sensitivity parameter representing a second sensitivity to the at least one indicator that is different than the first cut in sensitivity parameter.

17. The host vehicle of claim 16, wherein the predetermined cut in sensitivity change factor includes an end of lane condition, and wherein the value associated with the second cut in sensitivity parameter is lower than the value associated with the first cut in sensitivity parameter.

18. The host vehicle of claim 16, wherein the predetermined cut in sensitivity change factor includes an obstruction in a path of the target vehicle, and wherein the value associated with the second cut in sensitivity parameter is lower than the value associated with the first cut in sensitivity parameter.

20. A method for detecting and responding to a cut in by a target vehicle, the method comprising:

receiving, a plurality of images from at least one image capture device associated with a host vehicle;

identifying, in the plurality of images, a representation of the target vehicle traveling in a first lane different from a second lane in which the host vehicle is traveling;

identifying, based on analysis of the plurality of images, at least one indicator that the target vehicle will change from the first lane to the second lane;

detecting whether at least one predetermined cut in sensitivity change factor is present in an environment of the host vehicle;

causing a first navigational response in the host vehicle based on the identification of the at least one indicator and based on a value associated with a first cut in sensitivity parameter where no predetermined cut in sensitivity change factor is detected, the first cut in sensitivity parameter representing a first sensitivity to the at least one indicator; and

causing a second navigational response in the host vehicle based on the identification of the at least one indicator and based on a value associated with a second cut in sensitivity parameter where the at least one predetermined cut in sensitivity change factor is detected, the second cut in sensitivity parameter representing a second sensitivity to the at least one indicator that is different than the first cut in sensitivity parameter.