Systems and methods for detecting and responding to traffic laterally encroaching upon a vehicle

• US 9,452,754 B2
• Filed: 12/04/2014
• Issued: 09/27/2016
• 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): Algahaim, Helal A
• Assistant Examiner(s): ISMAIL, MAHMOUD S
• Application Number:
  US14/560,438
• Publication Number:
  US 20150153735A1
• Time in Patent Office: 663 Days
• Field of Search: 701/41, 701/301, 701/300, 348/148
• 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 for navigating a user vehicle may include acquiring, using at least one image capture device, a plurality of images of an area in a vicinity of the user vehicle; determining from the plurality of images a first lane constraint on a first side of the user vehicle and a second lane constraint on a second side of the user vehicle opposite to the first side of the user vehicle; determining, based on the plurality of images, whether an encroaching vehicle is approaching from a side of the user vehicle; and causing the user vehicle to maintain a current velocity and to travel within the first and second lane constraints such that a first distance, on the side of the user vehicle that the encroaching vehicle is approaching from, is greater than a second distance.

Claims

1. A driver assist navigation system for a user 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 user 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 user vehicle;

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

determine, based on the plurality of images, that an encroaching vehicle is approaching from a side of the user vehicle;

determine a predicted position of the encroaching vehicle based on a current trajectory of the encroaching vehicle;

determine, based on the predicted position of the encroaching vehicle, that the encroaching vehicle will be within a predefined range of the user vehicle;

determine, based on the predicted position of the encroaching vehicle, that the user vehicle can travel within the first and second lane constraints and bypass the encroaching vehicle before a predicted distance between the user vehicle and the encroaching vehicle is less than a predetermined distance; and

cause the user vehicle to travel within the first and second lane constraints such that a first distance to one of the first and second lane constraints, on the side of the user vehicle that the encroaching vehicle is approaching from, is greater than a second distance to the other of the first and second lane constraints on the side of the user vehicle opposite to the encroaching vehicle.

2. The system of claim 1, wherein the at least one processing device is configured to cause the user vehicle to take evasive action if analysis of the plurality of images indicates that the encroaching vehicle has crossed at least one collision threshold.

3. The system of claim 2, wherein the evasive action includes changing lanes.

4. The system of claim 2, wherein the evasive action includes altering course.

5. The system of claim 2, wherein the evasive action includes braking.

6. The system of claim 2, wherein the at least one collision threshold includes a minimum predetermined distance to maintain between the user vehicle and the encroaching vehicle.

7. The system of claim 2, wherein the at least one collision threshold includes a time to collision.

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

cause the user vehicle to return to a center of the lane, within which the user vehicle originally traveled, after completion of the evasive action.

9. The system of claim 1, wherein the at least one image capture device has a field of view of at least 140 degrees.

10. The system of claim 5, wherein the at least one processing device is configured to:

cause the user vehicle to resume a preset speed after braking in response to an encroaching vehicle.

11. The system of claim 4, wherein the at least one processing device is configured to:

cause the user vehicle to return to a lane location within the first and second lane constraints such that the first distance between the user vehicle and the first lane constraint is substantially equal to the second distance between the user vehicle and the second lane constraint after altering course in response to an encroaching vehicle.

24. The system of claim 1, wherein determining that the encroaching vehicle will be within a predefined range of the user vehicle is further based on a predicted position of the user vehicle.

25. The system of claim 24, wherein determining that the user vehicle can travel within the first and second lane constraints and bypass the encroaching vehicle before a predicted distance between the user vehicle and the encroaching vehicle is less than a predetermined distance is based on the predicted position of the user vehicle when controlled to execute an offset maneuver at a slew rate of approximately 0.15 to 0.75 m/sec.

26. The system of claim 24, wherein the predicted position of the user vehicle is determined based on a current velocity of the user vehicle.

27. The system of claim 24, wherein the predicted position of the encroaching vehicle is determined based on a position, heading, speed and acceleration of the encroaching vehicle, detected from the plurality of images, relative to the user vehicle.

12. A user vehicle, comprising:

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

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

determine, based on the plurality of images, that an encroaching vehicle is approaching from a side of the user vehicle;

determine a predicted position of the encroaching vehicle based on a current trajectory of the encroaching vehicle;

determine, based on the predicted position of the encroaching vehicle, that the encroaching vehicle will be within a predefined range of the user vehicle;

determine, based on the predicted position of the encroaching vehicle, that the user vehicle can travel within the first and second lane constraints and bypass the encroaching vehicle before a predicted distance between the user vehicle and the encroaching vehicle is less than a predetermined distance; and

cause the user vehicle to travel within the first and second lane constraints such that a first distance to one of the first and second lane constraints, on the side of the user vehicle that the encroaching vehicle is approaching from, is greater than a second distance to the other of the first and second lane constraints on the side of the user vehicle opposite to the encroaching vehicle.

13. The user vehicle of claim 12, wherein the at least one processing device is configured to cause the user vehicle to take evasive action if analysis of the plurality of images indicates that the encroaching vehicle has crossed at least one collision threshold.

14. The user vehicle of claim 13, wherein the evasive action includes changing lanes.

15. The user vehicle of claim 13, wherein the evasive action includes altering course.

16. The user vehicle of claim 13, wherein the evasive action includes braking.

17. The user vehicle of claim 13, wherein the at least one collision threshold includes a minimum predetermined distance to maintain between the user vehicle and the encroaching vehicle.

18. The user vehicle of claim 13, wherein the at least one collision threshold includes a time to collision.

19. The user vehicle of claim 13, wherein the at least one processing device is configured to:

cause the user vehicle to return to a center of the lane, within which the user vehicle originally traveled, after completion of the evasive action.

20. The user vehicle of claim 12, wherein the at least one image capture device has a field of view of at least 140 degrees.

21. The user vehicle of claim 16, wherein the at least one processing device is configured to:

cause the user vehicle to resume a preset speed after braking in response to an encroaching vehicle.

22. The user vehicle of claim 15, wherein the at least one processing device is configured to:

cause the user vehicle to return to a lane location within the first and second lane constraints such that the first distance between the user vehicle and the first lane constraint is substantially equal to the second distance between the user vehicle and the second lane constraint after altering course in response to an encroaching vehicle.

23. A method for navigating a user vehicle, the method comprising:

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

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

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

determining, based on the plurality of images, that an encroaching vehicle is approaching from a side of the user vehicle;

determining a predicted position of the encroaching vehicle based on a current trajectory of the encroaching vehicle;

determining, based on the predicted position of the encroaching vehicle, that the encroaching vehicle will be within a predefined range of the user vehicle;

determining, based on the predicted position of the encroaching vehicle, that the user vehicle can travel within the first and second lane constraints and bypass the encroaching vehicle before a predicted distance between the user vehicle and the encroaching vehicle is less than a predetermined distance; and

causing the user vehicle to travel within the first and second lane constraints such that a first distance to one of the first and second lane constraints, on the side of the user vehicle that the encroaching vehicle is approaching from, is greater than a second distance to the other of the first and second lane constraints on the side of the user vehicle opposite to the encroaching vehicle.