Systems and methods for detecting an open door

Patent metadata

Field	Value
Publication number	US-12459518-B2
Application number	US-202418828838-A
Country	US
Kind code	B2
Filing date	Sep 9, 2024
Priority date	Jun 24, 2020
Publication date	Nov 4, 2025
Grant date	Nov 4, 2025

Abstract

A computer-implemented method for navigating a host vehicle may include receiving an image frame acquired by an image capture device associated with the host vehicle; identifying in the image frame a representation of a target vehicle; determining an orientation indicator associated with the target vehicle; based on the determined orientation indicator, identifying a candidate region of the acquired image frame where a representation of a vehicle door of the target vehicle is expected in an open door condition; extracting the candidate region from the image frame; providing the candidate region to an open door detection network; determining a navigational action for the host vehicle in response to an indication from the open door detection network that the candidate region includes a representation of a door of the target vehicle in an open condition; and causing an actuator associated with the host vehicle to implement the navigational action.

First claim

What is claimed is:

1 . A system for navigating a host vehicle, the system comprising:
at least one processor comprising circuitry and a memory, wherein the memory includes instructions that when executed cause the at least one processor to: receive at least one image frame acquired by an image capture device associated with the host vehicle, wherein the at least one image frame is representative of an environment of the host vehicle; identify in the at least one image frame a representation of a target vehicle; determine one or more orientation indicators associated with the target vehicle; based on the determined one or more orientation indicators, identify at least one candidate region of the at least one image frame; provide at least a portion of the at least one image frame to an open door detection network, the at least a portion of the at least one image frame including the at least one candidate region; determine at least one navigational action for the host vehicle in response to an indication from the open door detection network that the at least a portion of the at least one image frame includes a representation of a door of the target vehicle in an open condition; and cause one or more actuators associated with the host vehicle to implement the at least one navigational action.

2 . The system of claim 1 , wherein the navigational action includes at least one of: changing a steering direction for the host vehicle, braking or slowing the host vehicle, or maintaining a current heading and speed of the host vehicle.

3 . The system of claim 2 , wherein the navigational action, including maintaining a current heading and speed of the host vehicle, is implemented in response to a determination that a predicted time to contact between the host vehicle and a detected open door of the target vehicle is greater than a threshold time.

4 . The system of claim 2 , wherein the navigational action, including maintaining a current heading and speed of the host vehicle, is implemented in response to a determination that a distance between the host vehicle and a detected open door of the target vehicle is greater than a threshold distance.

5 . The system of claim 1 , wherein the memory includes instructions that when executed cause the at least one processor to compare a location of the detected open door of the target vehicle with a planned trajectory for the host vehicle and determine the at least one navigational action based on the comparison.

6 . The system of claim 1 , wherein the open door detection network comprises a trained system.

7 . The system of claim 1 , wherein the open door detection network is configured to output an indicator of a distance relative to a detected open door of the target vehicle.

8 . The system of claim 1 , wherein the one or more orientation indicators associated with the target vehicle indicate that a portion of a front side of the target vehicle is represented in the at least one image frame and wherein the at least one candidate region of the at least one image frame includes an image segment located to the right or to the left of a representation in the at least one image frame of the front side of the target vehicle.

9 . The system of claim 8 , wherein a determination by the open door detection network of whether a door of the target vehicle is in an open condition is based on identification of at least one of: one or more exterior door features represented in the at least one candidate region of the at least one image frame, or one or more interior door features represented in the at least one candidate region of the at least one image frame.

10 . The system of claim 1 , wherein the one or more orientation indicators associated with the target vehicle indicate that a portion of a rear side of the target vehicle is represented in the at least one image frame and wherein the at least one candidate region of the at least one image frame includes an image segment located to the right or to the left of a representation in the at least one image frame of the rear side of the target vehicle.

11 . The system of claim 1 , wherein the one or more orientation indicators associated with the target vehicle indicate that a portion of a side of the target vehicle is represented in the at least one image frame and wherein the at least one candidate region of the at least one image frame includes an image segment at least partially within an image envelope associated with a representation in the at least one image frame of the side of the target vehicle.

12 . The system of claim 1 , wherein the at least one candidate region is identified to the open door detection network by at least four coordinate points associated with positions of the at least one image frame.

13 . The system of claim 1 , wherein the open door detection network is configured to output a classification of whether a door of the target vehicle is in an open condition.

14 . The system of claim 1 , wherein the open door detection network is configured to output a bounding box associated with a door of the target vehicle determined to be in an open condition.

15 . The system of claim 1 , wherein the open door detection network is configured to output a classification of whether a door of the target vehicle, at least partially occluded by a vehicle body, is in an open condition.

16 . The system of claim 1 , wherein the open door detection network is configured to output a classification of whether a door of the target vehicle, at least partially occluded by a pedestrian, is in an open condition.

17 . The system of claim 1 , wherein identification of the target vehicle is based on a determination of at least one of: a movement of the target vehicle, a lateral spacing between the host vehicle and the target vehicle, or a longitudinal spacing between the host vehicle and the target vehicle.

18 . The system of claim 1 , wherein the open door detection network is configured to analyze the at least one candidate region three or more times and output the indication that the at least one candidate region includes a representation of a door of the target vehicle in an open condition after a determination that the three or more analyses all indicate an open door condition.

19 . A computer-implemented method for navigating a host vehicle, the computer-implemented method comprising:
receiving at least one image frame acquired by an image capture device associated with the host vehicle, wherein the at least one image frame is representative of an environment of the host vehicle; identifying in the at least one image frame a representation of a target vehicle; determining one or more orientation indicators associated with the target vehicle; based on the determined one or more orientation indicators, identifying at least one candidate region of the at least one image frame; providing at least a portion of the at least one image frame to an open door detection network, the at least a portion of the at least one image frame including the at least one candidate region; determining at least one navigational action for the host vehicle in response to an indication from the open door detection network that the at least a portion of the at least one image frame includes a representation of a door of the target vehicle in an open condition; and causing one or more actuators associated with the host vehicle to implement the at least one navigational action.

20 . The method of claim 19 , wherein the navigational acti

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Harouche Shahar
• Geller Idan
• Bentolila Jacob
• Saad Amir
• Lotan Roy Maor

Classifications

• B60W2420/403

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

• B60W30/143

  Speed control (B60W30/16 takes precedence) · CPC title

• B60W30/0956

  the prediction being responsive to traffic or environmental parameters · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W10/18

  including control of braking systems · CPC title