Detection of driving actions that mitigate risk

Patent metadata

Field	Value
Publication number	US-11314209-B2
Application number	US-202016948458-A
Country	US
Kind code	B2
Filing date	Sep 18, 2020
Priority date	Oct 12, 2017
Publication date	Apr 26, 2022
Grant date	Apr 26, 2022

Abstract

Systems and methods are provided for detecting a driving action that mitigates risk.

First claim

What is claimed is:

1. A method comprising:
detecting, by at least one processor of a computing device in communication with a camera, the presence of a first vehicle in a field of view of the camera, wherein the camera is mounted on or in a second vehicle;
determining, by the at least one processor and based on visual data captured by the camera at a first point in time, that the first vehicle moved at least partially into a lane in which the second vehicle is traveling, wherein determining that the first vehicle moved at least partially into the lane comprises:
determining a bounding box that surrounds the first vehicle in the visual data; and
determining a location of a lane boundary in the visual data where the lane boundary intersects a bottom of the bounding box; and

determining whether a driver of the second vehicle performs an action that is:
responsive to the first vehicle moving at least partially into the lane; and
initiated prior to the driver being presented with any form of message regarding predicted risk.

2. The method of claim 1 , wherein the action includes slowing down the second vehicle or moving the second vehicle to a different lane.

3. The method of claim 1 , wherein the driver performs a responsive action and further comprising:
determining that the driver of the second vehicle mitigated a risk based on the determination that the first vehicle moved at least partially into the lane, and that the driver performed the responsive action.

4. The method of claim 3 , wherein determining that the driver of the second vehicle mitigated the risk further comprises determining a following distance between the second vehicle and the first vehicle at a second point in time, wherein the second point in time is subsequent to the first point in time.

5. The method of claim 3 , further comprising:
generating a notification after the driver performs the action, wherein the notification includes an indication that the driver took action to mitigate driving risk.

6. The method of claim 5 , further comprising:
transmitting the notification to a second device.

7. The method of claim 5 , further comprising:
positively adjusting a driver grade for the driver based on the notification.

8. The method of claim 1 , wherein the action includes moving the second vehicle to a different lane, and wherein determining that the second vehicle moved to a different lane comprises:
detecting, based on a plurality of images captured by the camera, a change of a relative position between:
a horizontal component of a vanishing point; and
a horizontal location where a lane boundary intersects a bottom of a field of view of the camera.

9. The method of claim 1 , wherein the action includes slowing down the second vehicle within a time period leading up to or just after the first vehicle moved into the lane in which the second vehicle is traveling.

10. The method of claim 1 , further comprising:
determining a driving action of a typical driver in a comparable scenario; and
determining that the driver of the second vehicle performed an action that is at least as safe as the driving action of the typical driver.

11. The method of claim 1 , wherein the driver performs a responsive action and further comprising:
transmitting visual data to a remote cloud server, wherein the transmitted visual data comprises data captured by the camera when the driver of the second vehicle performed the responsive action.

12. The method of claim 11 , further comprising training an autonomous vehicle driving system with the visual data.

13. The method of claim 1 , further comprising:
mapping a path of travel of the second vehicle to a camera view corresponding to the camera; and
determining an interaction between the mapped path of travel and the bounding box.

14. An apparatus comprising:
at least one memory unit; and
at least one processor coupled to the at least one memory unit, in which the at least one processor is configured to:
detect the presence of a first vehicle in visual data, wherein the visual data are captured by a camera at a first point in time, and wherein the camera is mounted on or in a second vehicle;
determine a bounding box that surrounds the first vehicle in the visual data;
determine a location of a lane boundary in the visual data where the lane boundary intersects a bottom of the bounding box; and
determine that the first vehicle moved at least partially into a lane in which the second vehicle is traveling based at least in part on the location of the lane boundary where the lane boundary intersects the bottom of the bounding box; and
determine whether a driver of the second vehicle performs an action that is:
responsive to the first vehicle moving at least partially into the lane; and
initiated prior to the driver being presented with any form of message regarding predicted risk.

15. The apparatus of claim 14 , in which the at least one processor is further configured to:
determine that the second vehicle slowed down or changed lanes within a predetermined amount of time from the first point in time.

16. The apparatus of claim 15 , in which the at least one processor is further configured to:
determine that a driver of the second vehicle mitigated a risk based on the determination that the first vehicle moved at least partially into the lane, and the determination that the second vehicle slowed down or changed lanes.

17. A computer program product, the computer program product comprising:
a non-transitory computer-readable medium having program code recorded thereon, the program code, when executed by a processor, causes the processor to:
detect the presence of a first vehicle in visual data, wherein the visual data are captured by a camera at a first point in time, and wherein the camera is mounted on or in a second vehicle;
determine a bounding box that surrounds the first vehicle in the visual data;
determine a location of a lane boundary in the visual data where the lane boundary intersects a bottom of the bounding box;
determine that the first vehicle moved at least partially into a lane in which the second vehicle is traveling based at least in part on the location of the lane boundary where the lane boundary intersects the bottom of the bounding box; and
determine whether a driver of the second vehicle performs an action that is:
responsive to the first vehicle moving at least partially into the lane; and
initiated prior to the driver being presented with any form of message regarding predicted risk.

18. The computer program product of claim 17 , wherein the program code, when executed the processor, further causes the processor to:
determine that the second vehicle slowed down or changed lanes within a predetermined amount of time from the first point in time.

19. The computer program product of claim 18 , wherein the program code, when executed the processor, further causes the processor to:
determine that a driver of the second vehicle mitigated a risk based on the determination that the first vehicle moved at least partially into the lane, and the determination that the second vehicle slowed down or changed lanes.

Assignees

• Netradyne Inc

Inventors

• Campos Michael
• Anubhav
• Annapureddy Venkata Sreekanta Reddy
• Gupta Vikram
• Rahman Hisham
• Aenugu Sneha
• Bakliwal Priyam
• Thomas Alexander
• Kahn Adam David
• Julian David Jonathan
• Pandya Sandeep
• Agrawal Avneesh

Classifications

• B60W2555/60

  Traffic rules, e.g. speed limits or right of way · CPC title

• B60W2554/804

  Relative longitudinal speed · CPC title

• B60W2756/10

  Involving external transmission of data to or from the vehicle · CPC title

• B60W2540/12

  Brake pedal position · CPC title

• B60W2540/10

  Accelerator pedal position · CPC title