Controlling host vehicle based on detected movement of a target vehicle

Patent metadata

Field	Value
Publication number	US-10127465-B2
Application number	US-201715634450-A
Country	US
Kind code	B2
Filing date	Jun 27, 2017
Priority date	Jun 27, 2016
Publication date	Nov 13, 2018
Grant date	Nov 13, 2018

Abstract

Systems and methods are provided for navigating an autonomous vehicle. In one implementation, a system for navigating a host vehicle based on movement of a target vehicle toward a lane being traveled by the host vehicle may include at least one processing device. The processing device may be programmed to receive a plurality of images associated with an environment of the host vehicle, analyze at least one of the plurality of images to identify the target vehicle and at least one wheel component on a side of the target vehicle, analyze a region including the at least one wheel component of the target vehicle to identify motion associated with the at least one wheel component of the target vehicle, and cause at least one navigational change of the host vehicle based on the identified motion associated with the at least one wheel component.

First claim

What is claimed is:

1. A system for navigating a host vehicle based on movement of a target vehicle toward a lane being traveled by the host vehicle, the system comprising:
at least one processing device programmed to:
receive, from an image capture device, a plurality of images associated with an environment of the host vehicle;
analyze at least one of the plurality of images to identify the target vehicle and at least one wheel component on a side of the target vehicle;
analyze, in at least two of the plurality of images, a region including the at least one wheel component of the target vehicle to identify motion associated with the at least one wheel component of the target vehicle; and
cause at least one navigational change of the host vehicle based on the identified motion associated with the at least one wheel component of the target vehicle.

2. The system of claim 1 , wherein the at least one navigational change includes a change in a heading direction of the host vehicle.

3. The system of claim 1 , wherein the at least one navigational change includes applying brakes of the host vehicle.

4. The system of claim 1 , wherein identifying the target vehicle includes associating at least one bounding box with a shape of the target vehicle.

5. The system of claim 1 , wherein the region including the at least one wheel component of the target vehicle includes a region adjacent to a road surface.

6. The system of claim 1 , wherein identifying motion associated with the at least one wheel component includes monitoring at least two of the plurality of images for an indication of rotation of the at least one wheel component.

7. The system of claim 1 , wherein the at least one wheel component includes at least one of a tire, a hubcap, or a wheel structure.

8. The system of claim 1 , wherein identifying motion associated with the at least one tire wheel component includes identifying at least one feature associated with the at least one wheel component and identifying an indicator of a positional change of the at least one feature.

9. The system of claim 8 , wherein the at least one processing device is further configured to determine a speed at which the target vehicle is moving based on the positional change of the at least one feature associated with the at least one wheel component.

10. The system of claim 9 , wherein the at least one processing device is further configured to determine a lateral safety distance for the vehicle based on the speed of the target vehicle.

11. The system of claim 10 , wherein the at least one navigational change of the target vehicle is based on the determined lateral safety distance.

12. A method for navigating a host vehicle based on movement of a target vehicle toward a lane being traveled by the host vehicle, the method comprising:
receiving, from an image capture device, a plurality of images associated with an environment of the host vehicle;
analyzing at least one of the plurality of images to identify the target vehicle and at least one wheel component on a side of the target vehicle;
analyzing, in at least two of the plurality of images, a region including the at least one wheel component of the target vehicle to identify motion associated with the at least one wheel component of the target vehicle; and
causing at least one navigational change of the host vehicle based on the identified motion associated with the at least one wheel component of the target vehicle.

13. The method of claim 12 , wherein identifying the target vehicle includes associating at least one bounding box with a shape of the target vehicle.

14. The method of claim 12 , wherein identifying motion associated with the at least one wheel component includes monitoring at least two of the plurality of images for an indication of rotation of the at least one wheel component.

15. The method of claim 12 , wherein identifying motion associated with the at least one tire wheel component includes identifying at least one feature associated with the at least one wheel component and identifying an indicator of a positional change of the at least one feature.

16. The method of claim 15 , further comprising:
determining a speed at which the target vehicle is moving based on the positional change of the at least one feature associated with the at least one wheel component; and
determining a lateral safety distance for the vehicle based on the speed of the target vehicle.

17. A non-transitory computer-readable medium storing instructions, which, when executed by at least one processing device, perform a method comprising:
receiving, from an image capture device, a plurality of images associated with an environment of a host vehicle;
analyzing at least one of the plurality of images to identify a target vehicle and at least one wheel component on a side of the target vehicle;
analyzing, in at least two of the plurality of images, a region including the at least one wheel component of the target vehicle to identify motion associated with the at least one wheel component of the target vehicle; and
causing at least one navigational change of the host vehicle based on the identified motion associated with the at least one wheel component of the target vehicle.

18. The non-transitory computer-readable medium of claim 17 , wherein identifying motion associated with the at least one tire wheel component includes identifying at least one feature associated with the at least one wheel component and identifying an indicator of a positional change of the at least one feature.

19. The non-transitory computer-readable medium of claim 17 , wherein identifying the target vehicle includes associating at least one bounding box with a shape of the target vehicle.

20. The non-transitory computer-readable medium of claim 19 , further storing instructions to:
determine a speed at which the target vehicle is moving based on the positional change of the at least one feature associated with the at least one wheel component; and
determine a lateral safety distance for the vehicle based on the speed of the target vehicle.

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Cohen Barak
• Stein Gideon

Classifications

• G06T7/593

  from stereo images · CPC title

• G06T2207/10016

  Video; Image sequence · CPC title

• G06T7/73

  using feature-based methods · CPC title

• G06T7/579

  from motion · CPC title

• G06T2207/30264

  Parking · CPC title