Controlling host vehicle based on detected spacing between stationary vehicles

Patent metadata

Field	Value
Publication number	US-10055653-B2
Application number	US-201715634614-A
Country	US
Kind code	B2
Filing date	Jun 27, 2017
Priority date	Jun 27, 2016
Publication date	Aug 21, 2018
Grant date	Aug 21, 2018

Abstract

Systems and methods are provided for navigating an autonomous vehicle. In one implementation, a system for navigating a host vehicle may include at least one processing device. The processing device may be programmed to receive a plurality of images representative of an environment of the host vehicle, analyze at least one of the plurality of images to identify at least two stationary vehicles, determine a spacing between the two stationary vehicles, and cause at least one navigational change in the host vehicle based on a magnitude of the spacing determined between the two stationary vehicles.

First claim

What is claimed is:

1. A navigation system for a host vehicle, the system comprising:
at least one processing device programmed to:
receive, from a camera, a plurality of images representative of an environment of the host vehicle;
analyze at least one of the plurality of images to identify at least two stationary vehicles;
determine, based on analysis of the at least one of the plurality of images, a spacing between the two stationary vehicles;
determine whether a magnitude of the spacing is sufficient for a target object to traverse; and
cause at least one navigational change in the host vehicle based on whether the magnitude of the spacing determined between the two stationary vehicles is sufficient for the target object to traverse.

2. The system of claim 1 , wherein the at least one navigational change comprises slowing the host vehicle.

3. The system of claim 1 , wherein the at least one navigational change comprises moving the host vehicle over within a lane of travel.

4. The system of claim 1 , wherein the at least one navigational change comprises changing a lane of travel of the host vehicle.

5. The system of claim 1 , wherein causing the at least one navigational change is effected by actuating at least one of a steering mechanism, a brake, or an accelerator of the host vehicle.

6. The system of claim 1 , wherein the target object is a pedestrian.

7. The system of claim 1 , wherein the target object is a target vehicle.

8. The system of claim 1 , wherein the spacing corresponds to a distance between adjacent sides of the stationary vehicles.

9. The system of claim 1 , wherein the spacing corresponds to a distance between a front of one of the stationary vehicles and a rear of the other stationary vehicle.

10. The system of claim 1 , wherein the at least one processing device is further programmed to detect, based on analysis of the plurality if images, a pedestrian in the spacing between the two stationary vehicles.

11. The system of claim 1 , wherein at least a portion of the spacing between the two stationary vehicles is obscured from a field of view of the camera.

12. A method for navigating a host vehicle, the method comprising:
receiving, from a camera, a plurality of images representative of an environment of the host vehicle;
analyzing at least one of the plurality of images to identify at least two stationary vehicles;
determining, based on analysis of the at least of the plurality of images, a spacing between the two stationary vehicles;
determining whether a magnitude of the spacing is sufficient for a target object to traverse; and
causing at least one navigational change in the host vehicle based on whether the magnitude of the spacing determined between the two stationary vehicles is sufficient for the target object to traverse.

13. The method of claim 12 , wherein causing at least one navigational change in the host vehicle comprises slowing the host vehicle.

14. The method of claim 12 , wherein causing at least one navigational change in the host vehicle comprises moving the host vehicle over within a lane of travel.

15. The method of claim 12 , wherein causing at least one navigational change in the host vehicle comprises changing a lane of travel of the host vehicle.

16. The method of claim 12 , wherein causing the at least one navigational change comprises actuating at least one of a steering mechanism, a brake, or an accelerator of the host vehicle.

17. The method of claim 12 , wherein the target object is a pedestrian.

18. The method of claim 12 , wherein the target object is a target vehicle.

19. A non-transitory computer-readable medium storing instructions, which, when executed by at least one processing device, perform a method comprising:
receiving, from a camera, a plurality of images representative of an environment of a host vehicle;
analyzing at least one of the plurality of images to identify at least two stationary vehicles;
determining, based on analysis of the at least of the plurality of images, a spacing between the two stationary vehicles;
determining whether a magnitude of the spacing is sufficient for a target object to traverse; and
causing at least one navigational change in the host vehicle based on whether the magnitude of the spacing determined between the two stationary vehicles is sufficient for the target object to traverse.

20. The non-transitory computer-readable medium of claim 19 , wherein causing at least one navigational change in the host vehicle comprises at least one of slowing the host vehicle, moving the host vehicle over within a lane of travel, or changing a lane of travel of the host vehicle.

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Cohen Barak
• Stein Gideon

Classifications

• G06T2207/30264

  Parking · CPC title

• G06T2207/20081

  Training; Learning · CPC title

• G06T2207/10048

  Infrared image · CPC title

• G06T7/277

  involving stochastic approaches, e.g. using Kalman filters · CPC title

• G06T7/73

  using feature-based methods · CPC title