Systems and methods for vehicle offset navigation

• US 9,393,998 B2
• Filed: 12/04/2014
• Issued: 07/19/2016
• 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): MELTON, TODD M
• Application Number:
  US14/560,375
• Publication Number:
  US 20160167650A1
• Time in Patent Office: 593 Days
• 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 method is provided for navigating a vehicle. The method may include acquiring, using at least one image capture device, a plurality of images of an area in the vicinity of the vehicle; and determining from the plurality of images a first lane constraint on a first side of the vehicle and a second lane constraint on a second side of the vehicle opposite to the first side of the vehicle. The method may further include causing the vehicle to travel within the first and second lane constraints based on the area in the vicinity of the vehicle.

Claims

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

at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the vehicle;

a data interface; and

at least one processing device configured to;

receive the plurality of images via the data interface;

determine from the plurality of images a first lane constraint on a first side of the vehicle;

determine from the plurality of images a second lane constraint on a second side of the vehicle opposite to the first side of the vehicle, wherein the first and second lane constraints define a lane within which the vehicle travels and wherein a first distance corresponds to a distance between the first side of the vehicle and the first lane constraint and a second distance corresponds to a distance between the second side of the vehicle and the second lane constraint;

determine, based on the plurality of images, that an object is located on the first side or the second side of the vehicle, the object being a predetermined distance beyond the first or second lane constraint and outside a boundary designating a travel area of a roadway;

determine a characteristic of the object;

if the object is on the first side of the vehicle, cause the vehicle to travel within the first and second lane constraints such that the first distance is greater than the second distance; and

if the object is on the second side of the vehicle, cause the vehicle to travel within the first and second lane constraints such that the first distance is less than the second distance,

wherein a difference between the first and second distances is based on the characteristic of the object.

2. The system of claim 1, wherein the at least one processing device is configured to:

determine, based on the plurality of images, an object on both the first side and the second side of the vehicle;

determine a characteristic of each of the objects; and

cause the vehicle to travel within the first and second lane constraints such that the first distance is substantially different than the second distance with the greater distance determined based on the characteristics of the objects.

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

determine, based on the plurality of images, whether the object constitutes a lane offset condition; and

if the object does not constitute a lane offset condition, cause the vehicle to travel within the first and second lane constraints such that the first distance is substantially equal to the second distance.

4. The system of claim 1, wherein when it is determined that an object is located on the first side or the second side of the vehicle, the at least one processing device is configured to:

cause one of the first distance and the second distance to be at least 1.25 times greater than the other distance.

5. The system of claim 1, wherein when it is determined that an object is located on the first side or the second side of the vehicle, the at least one processing device is configured to:

cause one of the first distance and the second distance to be at least 2 times greater than the other distance.

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

determine, based on the plurality of images, that a curve is present in the road relative to the first side or the second side of the vehicle; and

cause the vehicle to travel within the first and second lane constraints such that a greater distance is toward an outside of the curve relative to the vehicle, and a lesser distance is toward an inside of the curve relative to the vehicle.

7. The system of claim 1, wherein the characteristic of the object includes one or more objects either moving or stationary.

8. The system of claim 7, wherein the one or more objects include one or more parked cars.

9. The system of claim 7, wherein the one or more objects include a wall.

10. The system of claim 7, wherein the one or more objects includes one or more pedestrians.

11. The system of claim 7, wherein the one or more objects have a height of greater than 10 cm from a road surface.

12. The system of claim 1, wherein at least one of the first and second lane constraints includes a line marked on a road surface.

13. The system of claim 1, wherein at least one of the first and second lane constraints includes an edge of a road surface.

14. The system of claim 1, wherein at least one of the first and second lane constraints includes a determined midpoint of a road surface width.

15. The system of claim 1, wherein determination of an object located on the first side of the vehicle is performed based on a position of a target object on the first side of the vehicle.

16. The system of claim 1, wherein the causing of the vehicle to travel within the first and second lane constraints such that the first distance is greater than the second distance can be overridden based on input from a driver of the vehicle.

17. A vehicle, comprising:

a first vehicle side;

a second vehicle side opposite the first vehicle side;

at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the vehicle;

a data interface; and

at least one processing device configured to;

receive the plurality of images via the data interface;

determine from the plurality of images a first lane constraint on the first vehicle side;

determine from the plurality of images a second lane constraint on the second vehicle side, wherein the first and second lane constraints define a lane within which the vehicle travels and wherein a first distance corresponds to a distance between the first vehicle side and the first lane constraint and a second distance corresponds to a distance between the second vehicle side and the second lane constraint;

determine, based on the plurality of images, that an object is located on the first vehicle side or the second vehicle side, the object being a predetermined distance beyond the first or second lane constraint and outside a boundary designating a travel area of a roadway;

determine a characteristic of the object;

if the object is on the first vehicle side, cause the vehicle to travel within the first and second lane constraints such that the first distance is greater than the second distance; and

if the object is on the second vehicle side, cause the vehicle to travel within the first and second lane constraints such that the first distance is less than the second distance,

wherein a difference between the first and second distances is based on the characteristic of the object.

18. The vehicle of claim 17, wherein the at least one processing device is configured to:

determine, based on the plurality of images, an object on both the first vehicle side and the second vehicle side;

determine a characteristic of each of the objects; and

cause the vehicle to travel within the first and second lane constraints such that the first distance is substantially different than the second distance with the greater distance determined based on the characteristics of the objects.

19. The vehicle of claim 17, wherein the at least one processing device is configured to:

determine, based on the plurality of images, whether the object constitutes a lane offset condition; and

if the object does not constitute a lane offset condition, cause the vehicle to travel within the first and second lane constraints such that the first distance is substantially equal to the second distance.

20. The vehicle of claim 17, wherein the at least one processing device is further configured to:

determine, based on the plurality of images, that a curve is present in the road relative to the first side or the second side of the vehicle; and

cause the vehicle to travel within the first and second lane constraints such that a greater distance is toward an outside of the curve relative to the vehicle, and a lesser distance is toward an inside of the curve relative to the vehicle.

21. The vehicle of claim 17, wherein the characteristic of the object includes one or more objects either moving or stationary.

22. The vehicle of claim 17, wherein at least one of the first and second lane constraints includes an edge of a road surface.

23. The vehicle of claim 17, wherein at least one of the first and second lane constraints includes a determined midpoint of a road surface width.

24. The vehicle of claim 17, wherein determination of an object located on the first side of the vehicle is performed based on a position of a target object on the first side of the vehicle.

25. The vehicle of claim 17, wherein the causing of the vehicle to travel within the first and second lane constraints such that the first distance is greater than the second distance can be overridden based on input from a driver of the vehicle.

26. A method for navigating a vehicle, the method comprising:

acquiring, using at least one image capture device, a plurality of images of an area in the vicinity of the vehicle;

determining from the plurality of images a first lane constraint on a first side of the vehicle;

determining from the plurality of images a second lane constraint on a second side of the vehicle opposite to the first side of the vehicle, wherein the first and second lane constraints define a lane within which the vehicle travels and wherein a first distance corresponds to a distance between the first side of the vehicle and the first lane constraint and a second distance corresponds to a distance between the second side of the vehicle and the second lane constraint;

determining, based on the plurality of images, that an object is located on the first side or the second side of the vehicle, the object being a predetermined distance beyond the first or second lane constraint and outside a boundary designating a travel area of a roadway;

determining a characteristic of the object;

if the object is on the first side of the vehicle, causing the vehicle to travel within the first and second lane constraints such that the first distance is greater than the second distance; and

if the object is on the second side of the vehicle, causing the vehicle to travel within the first and second lane constraints such that the first distance is less than the second distance,

wherein a difference between the first and second distances is based on the characteristic of the object.

27. The method of claim 26, wherein determining a characteristic of the object includes determining whether the object is stationary or moving.

28. The method of claim 27, wherein determining a characteristic of the object includes determining whether the object includes a pedestrian or a parked car.