Systems and methods for navigating a vehicle

• US 11,077,845 B2
• Filed: 03/20/2019
• Issued: 08/03/2021
• Est. Priority Date: 03/20/2018
• Status: Active Grant

• Current Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Original Assignee: MobilEye Vision Technologies Ltd. (Intel Corporation)
• Inventors: Shalev-Shwartz, Shai, Shammah, Shaked, Shashua, Amnon, Cohen, Barak, Adelman, Zeev, Berberian, Oded
• Primary Examiner(s): Cass, Jean Paul
• Application Number:
  US16/359,488
• Publication Number:
  US 20190291726A1
• Time in Patent Office: 867 Days
• Field of Search: 701 41
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 7/18 operated by wayside apparatus
• 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: B60W 10/06 including control of combustion engines
• 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 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2510/18 Braking system
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/402 Type
• CPC Class Codes: B60W 2554/4046 Behavior, e.g. aggressive or erratic
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2710/18 : Braking system
• CPC Class Codes: B60W 2710/20 : Steering systems
• CPC Class Codes: B60W 2754/20 : Lateral distance
• CPC Class Codes: B60W 2754/30 : Longitudinal distance
• 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 30/0956 : the prediction being responsive to traffic or environmental parameters
• 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 40/105 : Speed
• CPC Class Codes: B60W 50/0097 : Predicting future conditions
• CPC Class Codes: B60W 50/082 : Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 50/087 : where the control system corrects or modifies a request from the driver
• CPC Class Codes: B60W 50/12 : Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
• CPC Class Codes: B60W 60/0015 : specially adapted for safety
• CPC Class Codes: B60W 60/0027 : using trajectory prediction for other traffic participants
• CPC Class Codes: B60W 60/00272 : relying on extrapolation of current movement
• CPC Class Codes: B60W 60/00274 : considering possible movement changes
• CPC Class Codes: G01S 13/60 : wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track G01S13/64 takes precedence
• CPC Class Codes: G01S 13/865 : Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/931 : of land vehicles
• CPC Class Codes: G01S 17/58 : Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 17/86 : Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 : of land vehicles
• CPC Class Codes: G01S 2013/9323 : Alternative operation using light waves

Abstract

A system for navigating a host vehicle may receive an image representative of an environment of the host vehicle and determine a planned navigational action for accomplishing a navigational goal of the host vehicle. The system may identify a target vehicle, determine a current speed of the target vehicle, and assume a maximum braking rate capability of the target vehicle. The system may determine a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken. The system may implement the planned navigational action if the host vehicle may be stopped using a predetermined sub-maximal braking rate within a distance that is less than the determined next-state distance summed together with a target vehicle travel distance determined based on the current speed of the target vehicle and the maximum braking rate capability of the target vehicle.

Claims

1. A system for navigating a host vehicle, the system comprising:

at least one processing device within the host vehicle, the at least one processing device comprising circuitry and a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processing device to;

receive at least one image acquired by an image capture device, the at least one image being representative of an environment of the host vehicle;

determine, based on at least one stored driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle;

analyze the at least one image to identify a target vehicle in the environment of the host vehicle;

determine a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;

determine a current speed of the host vehicle;

determine a current speed of the target vehicle and assume a maximum braking rate capability of the target vehicle based on at least one recognized characteristic of the target vehicle determined based on analysis of the at least one image;

determine that the host vehicle can be stopped within a host vehicle stopping distance that is less than the determined next-state distance summed together with a target vehicle travel distance determined based on the current speed of the target vehicle and the assumed maximum braking rate capability of the target vehicle, wherein the determination is based on the determined current speed of the host vehicle and at a predetermined sub-maximal braking rate that is less than a maximum braking rate capability of the host vehicle; and

implement the planned navigational action based on the determination.

2. The system of claim 1, wherein the predetermined sub-maximal braking rate is determined based on a user-selectable braking mode including a mode in which a host vehicle brake is constantly applied at the predetermined sub-maximal braking rate until the host vehicle is stopped or a braking condition is determined to no longer exist.

3. The system of claim 1, wherein the predetermined sub-maximal braking rate is determined based on a user-selectable braking mode including a mode in which a host vehicle brake is constantly applied at the predetermined sub-maximal braking rate for at least a portion of a time period during which a braking condition is determined to exist followed by an application of the host vehicle brake at a maximum braking rate for the host vehicle.

4. The system of claim 1, wherein the predetermined sub-maximal braking rate is determined based on a user-selectable braking mode including a mode in which a host vehicle brake is applied beginning at the predetermined sub-maximal braking rate and progressively increasing up to a maximum braking rate for the host vehicle.

5. The system of claim 1, wherein the predetermined sub-maximal braking rate is associated with a deceleration rate that is up to 50% of a deceleration rate associated with the maximum braking rate capability for the host vehicle.

6. The system of claim 1, wherein the predetermined sub-maximal braking rate is associated with a deceleration rate that is up to 25% of a deceleration rate associated with the maximum braking rate capability for the host vehicle.

7. The system of claim 1, wherein the host vehicle stopping distance is determined based on the current speed of the host vehicle and the predetermined sub-maximal braking rate of the host vehicle.

8. The system of claim 1, wherein the host vehicle stopping distance is greater than a sum of an acceleration distance, which corresponds to a distance the host vehicle can travel at a maximum acceleration capability of the host vehicle over a predetermined time period, and a maximum brake rate distance, which corresponds to a distance the host vehicle can travel while slowing from the current speed of the host vehicle to zero speed at the maximum braking rate capability of the host vehicle.

9. The system of claim 8, wherein the predetermined time period is a reaction time associated with the host vehicle.

10. The system of claim 1, wherein the maximum braking rate capability of the host vehicle is determined based on a sensed condition of a road surface.

11. The system of claim 1, wherein the maximum braking rate capability of the host vehicle is determined based on a sensed weather condition.

12. The system of claim 1, wherein the target vehicle speed is determined based on analysis of the at least one image.

13. The system of claim 1, wherein the target vehicle speed is determined based on analysis of an output from at least one of a LIDAR system or a RADAR system associated with the host vehicle.

14. The system of claim 1, wherein the recognized characteristic of the target vehicle includes a vehicle type or a vehicle model.

15. The system of claim 1, wherein the recognized characteristic of the target vehicle is a vehicle size.

16. The system of claim 1, wherein the at least one characteristic of the target vehicle is determined based on at least one of a LIDAR output or a RADAR output.

17. The system of claim 1, wherein the planned navigational action includes at least one of a lane change maneuver, a merge maneuver, a passing maneuver, a follow distance reduction maneuver, or a maintain throttle action.

18. The system of claim 1, wherein the memory includes instructions that when executed by the circuitry cause the at least one processing device to implement the planned navigational action if the determined host vehicle stopping distance is less, by at least a predetermined minimum distance, than the determined next-state distance summed together with a target vehicle travel distance determined based on the current speed of the target vehicle and the assumed maximum braking rate capability of the target vehicle.

19. The system of claim 18, wherein the predetermined minimum distance corresponds to a predetermined separation distance to be maintained between the host vehicle and other vehicles.

20. The system of claim 19, wherein the predetermined separation distance is at least 1 meter.

21. The system of claim 1, wherein the host vehicle stopping distance includes a first distance over which the host vehicle is braked at the predetermined sub-maximal braking rate and a second distance over which the host vehicle is braked at the maximum braking rate capability of the host vehicle.

22. The system of claim 21, wherein the memory includes instructions that when executed by the circuitry cause the at least one processing device to cause the host vehicle to brake at the predetermined sub-maximal braking rate over the first distance prior to braking the host vehicle at the maximum braking rate capability of the host vehicle over the second distance.

23. The system of claim 1, wherein the planned navigational action includes a lane change maneuver.

24. A system for navigating a host vehicle, the system comprising:

at least one processing device within the host vehicle, the at least one processing device comprising circuitry and a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processing device to;

receive at least one image acquired by an image capture device, the at least one image being representative of an environment of the host vehicle;

determine, based on at least one stored driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle;

analyze the at least one image to identify a target vehicle in the environment of the host vehicle;

determine a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;

determine a current speed of the host vehicle;

determine a current speed of the target vehicle and assume a maximum braking rate capability of the target vehicle based on at least one recognized characteristic of the target vehicle determined based on analysis of the at least one image;

determine that the host vehicle can be stopped within a host vehicle stopping distance that is less than the determined next-state distance summed together with a target vehicle travel distance determined based on the current speed of the target vehicle and the assumed maximum braking rate capability of the target vehicle, wherein the determination is based on the determined current speed of the host vehicle and at a predetermined sub-maximal braking rate that is less than a maximum braking rate capability of the host vehicle; and

implement the planned navigational action based on the determination.

25. The system of claim 24, wherein the predetermined braking rate profile increases linearly from the sub-maximal braking rate to the maximal braking rate for the host vehicle.

26. The system of claim 24, wherein the predetermined braking rate profile increases non-linearly from the sub-maximal braking rate to the maximal braking rate for the host vehicle.

27. A system for braking a host vehicle, the system comprising:

at least one processing device comprising circuitry and a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processing device to;

receive an output acquired by at least one sensor, the output being representative of an environment of the host vehicle;

detect, based on the output, a target vehicle in the environment of the host vehicle;

determine a current speed of the host vehicle, a maximum braking capability of the host vehicle, and a current distance between the host vehicle and the target vehicle, the current distance being determined based on the output from the at least one sensor;

determine a stopping distance for the host vehicle based on the maximum braking capability of the host vehicle and the current speed of the host vehicle;

determine, based at least upon the current speed of the host vehicle and the current distance between the host vehicle and the target vehicle, that a braking condition exists;

based on the determined braking condition, cause application of a braking device associated with the host vehicle at a sub-maximal braking rate until a distance between the host vehicle and the target vehicle is less than or equal to the stopping distance, the submaximal braking rate being less than the maximum braking capability for the host vehicle; and

cause application of the braking device associated with the host vehicle at the maximum braking capability for the host vehicle.

28. The system of claim 27, wherein, once the maximum braking rate of the host vehicle is achieved, the at least one processor is configured to continue application of the braking device of the host vehicle at the maximum braking rate of the host vehicle until the braking condition ceases to exist.

29. The system of claim 27, wherein the progressive increase is non-linear.

30. The system of claim 27, wherein the progressive increase is linear.

31. A non-transitory computer readable medium containing instructions that when executed by at least one processor, cause the at least one processor to:

receive at least one image acquired by an image capture device, the at least one image being representative of an environment of a host vehicle;

determine, based on at least one stored driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle;

analyze the at least one image to identify a target vehicle in the environment of the host vehicle;

determine a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;

determine a current speed of the host vehicle;

determine a current speed of the target vehicle and assume a maximum braking rate capability of the target vehicle based on at least one recognized characteristic of the target vehicle determined based on analysis of the at least one image;

determine that the host vehicle can be stopped within a host vehicle stopping distance that is less than the determined next-state distance summed together with a target vehicle travel distance determined based on the current speed of the target vehicle and the assumed maximum braking rate capability of the target vehicle, wherein the determination is based on the determined current speed of the host vehicle and at a predetermined sub-maximal braking rate that is less than a maximum braking rate capability of the host vehicle; and

implement the planned navigational action based on the determination.

32. A non-transitory computer readable medium containing instructions that when executed by at least one processor, cause the at least one processor to:

receive at least one image acquired by an image capture device, the at least one image being representative of an environment of a host vehicle;

determine, based on at least one stored driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle;

analyze the at least one image to identify a target vehicle in the environment of the host vehicle;

determine a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;

determine a current speed of the host vehicle;

determine a current speed of the target vehicle and assume a maximum braking rate capability of the target vehicle based on at least one recognized characteristic of the target vehicle determined based on analysis of the at least one image;

determine that the host vehicle can be stopped within a host vehicle stopping distance that is less than the determined next-state distance summed together with a target vehicle travel distance determined based on the current speed of the target vehicle and the assumed maximum braking rate capability of the target vehicle, wherein the determination is based on the determined current speed of the host vehicle and at a predetermined sub-maximal braking rate that is less than a maximum braking rate capability of the host vehicle; and

implement the planned navigational action based on the determination.

33. A non-transitory computer readable medium containing instructions that when executed by at least one processor, cause the at least one processor to:

receive an output acquired by at least one sensor, the output being representative of an environment of a host vehicle;

detect, based on the output, a target vehicle in the environment of the host vehicle;

determine a current speed of the host vehicle, a maximum braking capability of the host vehicle, and a current distance between the host vehicle and the target vehicle, the current distance being determined based on the output from the at least one sensor;

determine a stopping distance for the host vehicle based on the maximum braking capability of the host vehicle and the current speed of the host vehicle;

determine, based at least upon the current speed of the host vehicle and the current distance between the host vehicle and the target vehicle, that a braking condition exists;

based on the determined braking condition, cause application of a braking device associated with the host vehicle at a sub-maximal braking rate until a distance between the host vehicle and the target vehicle is less than or equal to the stopping distance, the submaximal braking rate being less than the maximum braking capability for the host vehicle; and

cause application of the braking device associated with the host vehicle at the maximum braking capability for the host vehicle.