Multi-threshold reaction zone for autonomous vehicle navigation

• US 9,156,473 B2
• Filed: 12/04/2014
• Issued: 10/13/2015
• Est. Priority Date: 12/04/2013
• Status: Active Grant

• Current Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Original Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Inventors: Clarke, Anna, Bagon, Eyal
• Primary Examiner(s): CAMBY, RICHARD M
• Application Number:
  US14/560,952
• Publication Number:
  US 20150151751A1
• Time in Patent Office: 313 Days
• Field of Search: 701/28, 701/300, 701/301, 701/302
• US Class Current: 1/1
• CPC Class Codes: B60K 2031/0025 Detecting position of target vehicle, e.g. vehicle driving ahead from host vehicle
• CPC Class Codes: B60K 31/0066 responsive to vehicle path curvature
• CPC Class Codes: B60T 13/662 characterised by specified functions of the control system components
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/03 Brake assistants
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2210/34 Blind spots
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60T 8/32 responsive to a speed condition, e.g. acceleration or deceleration using electrical circuitry or regulation means B60T8/17 ; B60T8/28 takes precedence; electric devices on electrically propelled vehicles indicating the wheel slip B60L3/10; measuring linear or angular speed per se G01P3/00
• CPC Class Codes: B60T 8/321 deceleration B60T8/34, B60T8/52, B60T8/54, B60T8/56, B60T8/58, B60T8/72, B60T8/86, B60T8/88 take precedence
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2510/0604 Throttle position
• CPC Class Codes: B60W 2510/18 Braking system
• CPC Class Codes: B60W 2510/20 Steering systems
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2552/53 : Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 2554/4041 : Position
• CPC Class Codes: B60W 2554/80 : Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/806 : Relative heading
• CPC Class Codes: B60W 2556/10 : Historical data
• CPC Class Codes: B60W 2556/50 : of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2710/18 : Braking system
• CPC Class Codes: B60W 2710/20 : Steering systems
• CPC Class Codes: B60W 30/00 : Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• 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: B60W 30/09 : Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0953 : the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/12 : Lane keeping
• CPC Class Codes: B60W 30/14 : Adaptive cruise control
• CPC Class Codes: B60W 30/143 : Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/165 : Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
• CPC Class Codes: B60W 30/18154 : Approaching an intersection
• CPC Class Codes: B60W 30/18163 : Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 40/06 : Road conditions
• CPC Class Codes: B60W 40/072 : Curvature of the road
• CPC Class Codes: B60W 40/076 : Slope angle of the road
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 60/0027 : using trajectory prediction for other traffic participants
• CPC Class Codes: B62D 15/025 : Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/0255 : Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: B62D 15/0265 : Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 6/00 : Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: G01C 11/04 : Interpretation of pictures
• CPC Class Codes: G01C 21/10 : by using measurements of speed or acceleration G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/26 : specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/30 : Map- or contour-matching
• CPC Class Codes: G01S 5/0027 : of actual mobile position, i.e. position determined on mobile
• 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 1/0214 : in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0246 : using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0253 : extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow determining position or orientation from images G06T7/70
• CPC Class Codes: G05D 1/0278 : using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06T 2207/10028 : Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/30256 : Lane; Road marking
• CPC Class Codes: G06T 2207/30261 : Obstacle
• CPC Class Codes: G06T 7/285 : using a sequence of stereo image pairs
• CPC Class Codes: G06T 7/292 : Multi-camera tracking
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80
• CPC Class Codes: G06T 7/97 : Determining parameters from multiple pictures depth or shape recovery from multiple images G06T7/55; stereo camera calibration G06T7/85
• 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 20/584 : of vehicle lights or traffic lights
• 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 1/09 : Arrangements for giving variable traffic instructions railroad crossing signals B61L; reflectors E01F, G08B; indicating arrangements for variable information by selection or combination of individual elements G09F9/00
• 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 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/22 : Platooning, i.e. convoy of communicating vehicles
• CPC Class Codes: H04N 23/90 : Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
• CPC Class Codes: H04N 7/18 : Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

Systems and methods use cameras to provide autonomous navigation features. In one implementation, a driver assist navigation system for a primary vehicle may include at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the primary vehicle; a data interface; and at least one processing device. The at least processing device may be configured to: receive the plurality of images via the data interface; identify a target object within the plurality of images; monitor, via the plurality of images, a motion of the target object and a distance between the primary vehicle and the target object; determine an indicator of an intercept time between the primary vehicle and the target object based on the monitored motion and the distance between the primary vehicle and the target object; and cause a response in the primary vehicle based on a comparison of the intercept time to a plurality of predetermined intercept thresholds.

Claims

1. A driver assist navigation system for a primary vehicle, the system comprising:

at least one camera configured to acquire a plurality of images of an area in a vicinity of the primary vehicle;

a data interface; and

at least one processing device configured to;

receive the plurality of images via the data interface;

identify a target object within the plurality of images;

monitor, via the plurality of images, a motion of the target object and a distance between the primary vehicle and the target object;

determine an indicator of an intercept time between the primary vehicle and the target object based on the monitored motion and the monitored distance between the primary vehicle and the target object; and

cause a response in the primary vehicle based on a comparison of the indicator of the intercept time to a plurality of predetermined intercept thresholds,

wherein the response is based on an average motion of the target object if the indicator of the intercept time exceeds one or more of the predetermined intercept thresholds, and the response is based on actual motion of the target object if the indicator of the intercept time does not exceed the one or more predetermined intercept thresholds.

2. The driver assist navigation system of claim 1, wherein the target object is a target vehicle traveling in a lane different from the primary vehicle.

3. The driver assist navigation system of claim 1, wherein the intercept time is based on an indicator of speed of the tracked object, as determined based on the plurality of images.

4. The driver assist navigation system of claim 1, wherein the intercept time is based on an indicator of an acceleration of the tracked object, as determined based on the plurality of images.

5. The driver assist navigation system of claim 1, wherein the at least one processing device is further configured to:

determine whether the target object is traveling in the same lane as the primary vehicle; and

forego the response in the primary vehicle if the target object is determined to be traveling in a lane different from the primary vehicle.

6. The driver assist navigation system of claim 5, wherein determination of whether the target object is traveling in the same lane as the primary vehicle is based on the plurality of images.

7. The driver assist navigation system of claim 5, wherein determination of whether the target object is traveling in the same lane as the primary vehicle is based on at least one of predetermined map data or yaw rate of the primary vehicle.

8. The driver assist navigation system of claim 1, wherein the response includes an emergency avoidance action if the indicator of intercept time to the target object does not exceed at least a second intercept threshold among the plurality of predetermined intercept thresholds.

9. The driver assist navigation system of claim 8, wherein the emergency avoidance action includes changing lanes.

10. The driver assist navigation system of claim 8, wherein the emergency avoidance action includes emergency braking.

11. A primary vehicle, comprising:

a body;

at least one camera configured to acquire a plurality of images of an area in a vicinity of the primary vehicle;

a data interface; and

at least one processing device configured to;

receive the plurality of images via the data interface;

identify a target object within the plurality of images;

monitor, via the plurality of images, a motion of the target object and a distance between the primary vehicle and the target object;

determine an indicator of an intercept time between the primary vehicle and the target object based on the monitored motion and the monitored distance between the primary vehicle and the target object; and

cause a response in the primary vehicle based on a comparison of the indicator of the intercept time to a plurality of predetermined intercept thresholds,

wherein the response is based on an average motion of the target object if the indicator of the intercept time exceeds one or more of the predetermined intercept thresholds, and the response is based on actual motion of the target object if the indicator of the intercept time does not exceed the one or more predetermined intercept thresholds.

12. The primary vehicle of claim 11, wherein the target object is a target vehicle traveling in a lane different from the primary vehicle.

13. The primary vehicle of claim 11, wherein the intercept time is based on an indicator of speed of the tracked object, as determined based on the plurality of images.

14. The primary vehicle of claim 11, wherein the intercept time is based on an indicator of an acceleration of the tracked object, as determined based on the plurality of images.

15. The primary vehicle of claim 11, wherein the at least one processing device is further configured to:

determine whether the target object is traveling in the same lane as the primary vehicle; and

forego the response in the primary vehicle if the target object is determined to be traveling in a lane different from the primary vehicle.

16. The primary vehicle of claim 15, wherein determination of whether the target object is traveling in the same lane as the primary vehicle is based on the plurality of images.

17. The primary vehicle of claim 15, wherein determination of whether the target object is traveling in the same lane as the primary vehicle is based on at least one of predetermined map data or yaw rate of the primary vehicle.

18. The primary vehicle of claim 11, wherein the response includes an emergency avoidance action if the indicator of intercept time to the target object does not exceed at least a second intercept threshold among the plurality of redetermined intercept thresholds.

19. The primary vehicle of claim 18, wherein the emergency avoidance action includes changing lanes.

20. The primary vehicle of claim 18, wherein the emergency avoidance action includes emergency braking.

21. A method for navigating a primary vehicle, the method comprising:

acquiring, via at least one camera, a plurality of images of an area in a vicinity of the primary vehicle;

identifying a target object within the plurality of images;

monitoring, based on the plurality of images, a motion of the target object and a distance between the primary vehicle and the target object;

determining an indicator of an intercept time between the primary vehicle and the target object based on the monitored motion and the monitored distance between the primary vehicle and the target object; and

causing a response in the primary vehicle based on a comparison of the indicator of the intercept time to a plurality of predetermined intercept thresholds,

wherein the response is based on an average motion of the target object if the indicator of the intercept time exceeds one or more of the predetermined intercept thresholds, and the response is based on actual motion of the target object if the indicator of the intercept time does not exceed the one or more predetermined intercept thresholds.