Systems and methods for navigating a vehicle among encroaching vehicles
First Claim
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;
acquire, based on the plurality of images, a target vehicle;
initiate a pass operation to enable the user vehicle to pass the target vehicle while maintaining travel within the first and second lane constraints if the target vehicle is determined to be in a lane different from the lane in which the user vehicle is traveling;
monitor a position of the target vehicle relative to the first or second lane constraint based on the plurality of images;
determine, based on the monitoring, whether there is enough time for the user vehicle to bypass the target vehicle before a distance between the user vehicle and the target vehicle closes to a predetermined threshold; and
activate, based on a determination that there is not enough time, an abort operation to cause the user vehicle to abort the pass and initiate braking before completion of the pass.
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Accused Products
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; enabling the user vehicle to pass a target vehicle if the target vehicle is determined to be in a lane different from the lane in which the user vehicle is traveling; and causing the user vehicle to abort the pass before completion of the pass, if the target vehicle is determined to be entering the lane in which the user vehicle is traveling.
21 Citations
28 Claims
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1. A driver assist navigation system for a user vehicle, the system comprising:
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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; acquire, based on the plurality of images, a target vehicle; initiate a pass operation to enable the user vehicle to pass the target vehicle while maintaining travel within the first and second lane constraints if the target vehicle is determined to be in a lane different from the lane in which the user vehicle is traveling; monitor a position of the target vehicle relative to the first or second lane constraint based on the plurality of images; determine, based on the monitoring, whether there is enough time for the user vehicle to bypass the target vehicle before a distance between the user vehicle and the target vehicle closes to a predetermined threshold; and activate, based on a determination that there is not enough time, an abort operation to cause the user vehicle to abort the pass and initiate braking before completion of the pass. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A user vehicle, comprising:
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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; acquire, based on the plurality of images, a target vehicle; initiate a pass operation to enable the user vehicle to pass the target vehicle while maintaining travel within the first and second lane constraints if the target vehicle is determined to be in a lane different from the lane in which the user vehicle is traveling; monitor a position of the target vehicle relative to the first or second lane constraint based on the plurality of images; determine, based on the monitoring, whether there is enough time for the user vehicle to bypass the target vehicle before a distance between the user vehicle and the target vehicle closes to a predetermined threshold; and activate, based on a determination that there is not enough time, an abort operation to cause the user vehicle to abort the pass and initiate braking before completion of the pass. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method for navigating a user vehicle, the method comprising:
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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; acquiring, based on the plurality of images, a target vehicle; initiating a pass operation enabling the user vehicle to pass the target vehicle while maintaining travel within the first and second lane constraints if the target vehicle is determined to be in a lane different from the lane in which the user vehicle is traveling; monitoring a position of the target vehicle relative to the first or second lane constraint based on the plurality of images; determining, based on the monitoring, whether there is enough time for the user vehicle to bypass the target vehicle before a distance between the user vehicle and the target vehicle closes to a predetermined threshold; and activating, based on a determination that there is not enough time, an abort operation causing the user vehicle to abort the pass before completion of the pass and initiate braking. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28)
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Specification