Predicting and Responding to Cut In Vehicles and Altruistic Responses

• US 20170153639A1
• Filed: 11/23/2016
• Published: 06/01/2017
• 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
• Granted Patent: US 10,209,712 B2
• Time in Patent Office: 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 navigation system for a host vehicle 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, based on analysis of the plurality of images, at least one target vehicle in an environment of the host vehicle; determine, based on analysis of the plurality of images, one or more situational characteristics associated with the target vehicle; determine a current value associated with an altruistic behavior parameter; and determine based on the one or more situational characteristics associated with the target vehicle that no change in a navigation state of the host vehicle is required, but cause at least one navigational change in the host vehicle based on the current value associated with the altruistic behavior parameter and based on the one or more situational characteristics associated with the target vehicle.

Claims

1. A navigation 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, based on analysis of the plurality of images, at least one target vehicle in an environment of the host vehicle;

determine, based on analysis of the plurality of images, one or more situational characteristics associated with the target vehicle;

determine a current value associated with an altruistic behavior parameter; and

determine based on the one or more situational characteristics associated with the target vehicle that no change in a navigation state of the host vehicle is required, but cause at least one navigational change in the host vehicle based on the current value associated with the altruistic behavior parameter and based on the one or more situational characteristics associated with the target vehicle.

2. The system of claim 1, wherein the one or more situational characteristics indicate that the target vehicle would benefit from a course change into a path of the host vehicle.

3. The system of claim 1, wherein the one or more situational characteristics indicate that the target vehicle is traveling in a lane adjacent to a lane in which the host vehicle is traveling and wherein the target vehicle is behind a vehicle moving slower than the target vehicle and slower than the host vehicle.

4. The system of claim 1, wherein the value of the altruistic behavior parameter is set based on input from an operator of the host vehicle.

5. The system of claim 1, wherein the value of the altruistic behavior parameter is set based on at least one informational element determined by parsing calendar entries for an operator of the host vehicle.

6. The system of claim 1, wherein the value of the altruistic behavior parameter is set based on an output of a randomizer function.

7. The system of claim 1, wherein the value of the altruistic behavior parameter is set based on a determined number of encounters with target vehicles for which the one or more situational characteristics indicate that the target vehicle would benefit from a course change into a path of the host vehicle.

8. The system of claim 1, wherein the value of the altruistic behavior parameter is updated such that a navigational change in the host vehicle is caused in at least a predetermined percentage of encounters with target vehicles for which the one or more situational characteristics indicate that the target vehicle would benefit from a course change into a path of the host vehicle.

9. The system of claim 8, wherein the predetermined percentage is at least 10%.

10. The system of claim 8, wherein the predetermined percentage is at least 20%.

11. 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, based on analysis of the plurality of images, at least one target vehicle in an environment of the host vehicle;

determine, based on analysis of the plurality of images, one or more situational characteristics associated with the target vehicle;

determine a current value associated with an altruistic behavior parameter; and

determine based on the one or more situational characteristics associated with the target vehicle that no change in a navigation state of the host vehicle is required, but cause at least one navigational change in the host vehicle based on the current value associated with the altruistic behavior parameter and based on the one or more situational characteristics associated with the target vehicle.

12. The host vehicle of claim 11, wherein the one or more situational characteristics indicate that the target vehicle would benefit from a course change into a path of the host vehicle.

13. The host vehicle of claim 11, wherein the one or more situational characteristics indicate that the target vehicle is traveling in a lane adjacent to a lane in which the host vehicle is traveling and wherein the target vehicle is behind a vehicle moving slower than the target vehicle and slower than the host vehicle.

14. The host vehicle of claim 11, wherein the value of the altruistic behavior parameter is set based on input from an operator of the host vehicle.

15. The host vehicle of claim 11, wherein the value of the altruistic behavior parameter is set based on at least one informational element determined by parsing calendar entries for an operator of the host vehicle.

16. The host vehicle of claim 11, wherein the value of the altruistic behavior parameter is set based on an output of a randomizer function.

17. The host vehicle of claim 11, wherein the value of the altruistic behavior parameter is set based on a determined number of encounters with target vehicles for which the one or more situational characteristics indicate that the target vehicle would benefit from a course change into a path of the host vehicle.

18. The host vehicle of claim 11, wherein the value of the altruistic behavior parameter is updated such that a navigational change in the host vehicle is caused in at least a predetermined percentage of encounters with target vehicles for which the one or more situational characteristics indicate that the target vehicle would benefit from a course change into a path of the host vehicle.

19. The host vehicle of claim 18, wherein the predetermined percentage is at least 10%.

20. A method for navigating a host vehicle, the method comprising:

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

identifying, based on analysis of the plurality of images, at least one target vehicle in an environment of the host vehicle;

determining, based on analysis of the plurality of images, one or more situational characteristics associated with the target vehicle;

determining a current value associated with an altruistic behavior parameter; and

determining based on the one or more situational characteristics associated with the target vehicle that no change in a navigation state of the host vehicle is required, but cause at least one navigational change in the host vehicle based on the current value associated with the altruistic behavior parameter and based on the one or more situational characteristics associated with the target vehicle.