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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
First Claim
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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.

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