Systems and methods for navigating lane merges and lane splits

Patent metadata

Field	Value
Publication number	US-11392135-B2
Application number	US-202016939359-A
Country	US
Kind code	B2
Filing date	Jul 27, 2020
Priority date	Oct 31, 2016
Publication date	Jul 19, 2022
Grant date	Jul 19, 2022

Abstract

Systems and methods are provided for navigating an autonomous vehicle. In one implementation, a system includes a processing device programmed to receive a plurality of images representative of an environment of the host vehicle. The environment includes a road on which the host vehicle is traveling. The at least one processing device is further programmed to analyze the images to identify a target vehicle traveling in a lane of the road different from a lane in which the host vehicle is traveling; analyze the images to identify a lane mark associated with the lane in which the target vehicle is traveling; detect lane mark characteristics of the identified lane mark; use the detected lane mark characteristics to determine a type of the identified lane mark; determine a characteristic of the target vehicle; and determine a navigational action for the host vehicle based on the determined lane mark type and the determined characteristic of the target vehicle.

First claim

What is claimed is:

1. A system for navigating 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 a plurality of images acquired by an image capture device, the plurality of images being representative of an environment of the host vehicle, the environment including a road on which the host vehicle is traveling;
analyze at least one of the plurality of images to identify a target vehicle traveling in a lane of the road different from a lane in which the host vehicle is traveling;
analyze at least one of the plurality of images to identify at least one lane mark associated with the lane in which the target vehicle is traveling;
determine at least one characteristic of the target vehicle based on at least one of the plurality of images, wherein the at least one determined characteristic of the target vehicle includes a detected lateral motion of the target vehicle relative to the at least one identified lane mark;
determine a navigational action for the host vehicle based on the determined at least one characteristic of the target vehicle; and
cause the host vehicle to implement the navigational action.

2. The system of claim 1 , wherein the at least one identified lane mark includes a merge lane.

3. The system of claim 1 , wherein the instructions when executed by the circuitry further cause the at least one processing device to detect a distance of the at least one identified lane mark to a reference point.

4. The system of claim 3 , wherein the reference point includes at least one other lane mark of the road.

5. The system of claim 1 , wherein the instructions when executed by the circuitry further cause the at least one processing device to detect an intersection of the at least one identified lane mark with at least one other lane mark of the road.

6. The system of claim 1 , wherein the instructions when executed by the circuitry further cause the at least one processing device to detect a change in lateral distances between the at least one identified lane mark and at least one other lane mark of the road.

7. The system of claim 1 , wherein determining at least one characteristic of the target vehicle includes analyzing at least one of the plurality of images.

8. The system of claim 1 , wherein the at least one determined characteristic of the target vehicle includes a position of the target vehicle on the road forward of the host vehicle.

9. The system of claim 1 , wherein the at least one determined characteristic of the target vehicle includes a velocity of the target vehicle relative to the host vehicle.

10. The system of claim 1 , wherein the at least one determined characteristic of the target vehicle includes a predicted trajectory of the target vehicle.

11. The system of claim 1 , wherein the determined navigation action for the host vehicle includes changing a rate of acceleration.

12. The system of claim 1 , wherein the determined navigation action for the host vehicle includes a steering action of the host vehicle.

13. The system of claim 1 , wherein the instructions when executed by the circuitry further cause the at least one processing device to predict a navigational action of the target vehicle based on a determined lane mark type.

14. The system of claim 13 , wherein the predicted navigational action of the target vehicle includes a lane merge.

15. A system for navigating 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 a plurality of images acquired by an image capture device, the plurality of images being representative of an environment of the host vehicle, the environment including a road on which the host vehicle is traveling;
analyze at least one of the plurality of images to identify a target vehicle traveling in a lane of the road in which the host vehicle is traveling;
analyze at least one of the plurality of images to identify at least one lane mark associated with the lane;
determine at least one characteristic of the target vehicle based on at least one of the plurality of images, wherein the at least one determined characteristic of the target vehicle includes a detected lateral motion of the target vehicle relative to the at least one identified lane mark;
determine a navigational action for the host vehicle based on the determined at least one characteristic of the target vehicle; and
cause the host vehicle to implement the navigational action.

16. The system of claim 15 , wherein the at least one identified lane mark includes a split lane.

17. The system of claim 15 , wherein the instructions when executed by the circuitry further cause the at least one processing device to detect a distance of the at least one identified lane mark to a reference point.

18. The system of claim 17 , wherein the reference point includes at least one other lane mark of the road.

19. The system of claim 15 , wherein the instructions when executed by the circuitry further cause the at least one processing device to detect a split of the at least identified lane mark into another lane mark.

20. A method for navigating a host vehicle, the method comprising:
receiving a plurality of images acquired by an image capture device, the plurality of images being representative of an environment of the host vehicle, the environment including a road on which the host vehicle is traveling;
analyzing, by at least one processing device, at least one of the plurality of images to identify a target vehicle traveling in a lane of the road;
analyzing at least one of the plurality of images to identify at least one lane mark associated with the lane in which the target vehicle is traveling;
determining at least one characteristic of the target vehicle based on at least one of the plurality of images, wherein the at least one determined characteristic of the target vehicle includes a detected lateral motion of the target vehicle relative to the at least one identified lane mark;
determining a navigational action for the host vehicle based on the determined at least one characteristic of the target vehicle; and
causing the host vehicle to implement the navigational action.

21. A non-transitory computer-readable medium storing instructions executable by at least processor to perform a method for navigating a host vehicle, the method comprising:
receiving a plurality of images acquired by an image capture device, the plurality of images being representative of an environment of the host vehicle, the environment including a road on which the host vehicle is traveling;
analyze at least one of the plurality of images to identify a target vehicle traveling in a lane of the road different from a lane in which the host vehicle is traveling;
analyze at least one of the plurality of images to identify at least one lane mark associated with the lane in which the target vehicle is traveling;
determine at least one characteristic of the target vehicle based on at least one of the plurality of images, wherein the at least one determined characteristic of the target vehicle includes a detected lateral motion of the target vehicle relative to the at least one identified lane mark;
determine a navigational action for the host vehicle

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Eagelberg Dor
• Stein Gideon
• Taieb Yoav
• Gdalyahu Yoram
• Fridman Ofer

Classifications

• G06N3/045

  Combinations of networks · CPC title

• B60W2420/403

  Image sensing, e.g. optical camera · CPC title

• G08G1/167

  Driving aids for lane monitoring, lane changing, e.g. blind spot detection · CPC title

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• G08G1/165

  for passive traffic, e.g. including static obstacles, trees · CPC title