Multi-threshold reaction zone for autonomous vehicle navigation

Patent metadata

Field	Value
Publication number	US-9415777-B2
Application number	US-201514853117-A
Country	US
Kind code	B2
Filing date	Sep 14, 2015
Priority date	Dec 4, 2013
Publication date	Aug 16, 2016
Grant date	Aug 16, 2016

Abstract

Systems and methods use cameras to provide autonomous navigation features. In one implementation, a driver assist navigation system for a primary vehicle may include at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the primary vehicle; a data interface; and at least one processing device. The at least processing device may be configured to: receive the plurality of images via the data interface; identify a target object within the plurality of images; monitor, via the plurality of images, a motion of the target object and a distance between the primary vehicle and the target object; determine an indicator of an intercept time between the primary vehicle and the target object based on the monitored motion and the distance between the primary vehicle and the target object; and cause a response in the primary vehicle based on a comparison of the intercept time to a plurality of predetermined intercept thresholds.

First claim

What is claimed is:

1. A driver assist navigation system for a primary vehicle, the system comprising:
at least one camera configured to acquire a plurality of images of an area in a vicinity of the primary vehicle;
a data interface; and
at least one processing device configured to:
receive the plurality of images via the data interface;
identify a target object within the plurality of images;
monitor, via the plurality of images, a motion of the target object and a distance between the primary vehicle and the target object;
determine an indicator of an intercept time between the primary vehicle and the target object based on the monitored motion and the distance between the primary vehicle and the target object; and
cause a response in the primary vehicle based on a comparison of the indicator of the intercept time to a predetermined intercept threshold, wherein the response is based on an average motion or an actual motion of the target object when the indicator of the intercept time is greater than or equal to the predetermined intercept threshold, and the response includes an emergency avoidance action when the indicator of the intercept time is below the predetermined intercept threshold.

2. The driver assist navigation system of claim 1 , wherein the target object is a target vehicle traveling in a lane different from the primary vehicle.

3. The driver assist navigation system of claim 1 , wherein the intercept time is based on an indicator of speed of the target object, as determined based on the plurality of images.

4. The driver assist navigation system of claim 1 , wherein the intercept time is based on an indicator of an acceleration of the target object, as determined based on the plurality of images.

5. The driver assist navigation system of claim 1 , wherein the at least one processing device is further configured to:
determine whether the target object is traveling in the same lane as the primary vehicle; and
forego the response in the primary vehicle if the target object is determined to be traveling in a lane different from the primary vehicle.

6. The driver assist navigation system of claim 5 , wherein determination of whether the target object is traveling in the same lane as the primary vehicle is based on the plurality of images.

7. The driver assist navigation system of claim 5 , wherein determination of whether the target object is traveling in the same lane as the primary vehicle is based on at least one of predetermined map data or yaw rate of the primary vehicle.

8. The driver assist navigation system of claim 1 , wherein the response includes an emergency avoidance action.

9. The driver assist navigation system of claim 8 , wherein the emergency avoidance action includes changing lanes.

10. The driver assist navigation system of claim 8 , wherein the emergency avoidance action includes emergency braking.

11. A primary vehicle, comprising:
a body;
at least one camera configured to acquire a plurality of images of an area in a vicinity of the primary vehicle;
a data interface; and
at least one processing device configured to:
receive the plurality of images via the data interface;
identify a target object within the plurality of images;
monitor, via the plurality of images, a motion of the target object and a distance between the primary vehicle and the target object;
determine an indicator of an intercept time between the primary vehicle and the target object based on the monitored motion and the distance between the primary vehicle and the target object; and
cause a response in the primary vehicle based on a comparison of the indicator of the intercept time to a predetermined intercept threshold, wherein the response is based on an average motion or an actual motion of the target object when the indicator of the intercept time is greater than or equal to the predetermined intercept threshold, and the response includes an emergency avoidance action when the indicator of the intercept time is below the predetermined intercept threshold.

12. The primary vehicle of claim 11 , wherein the target object is a target vehicle traveling in a lane different from the primary vehicle.

13. The primary vehicle of claim 11 , wherein the intercept time is based on an indicator of speed of the target object, as determined based on the plurality of images.

14. The primary vehicle of claim 11 , wherein the intercept time is based on an indicator of an acceleration of the target object, as determined based on the plurality of images.

15. The primary vehicle of claim 11 , wherein the at least one processing device is further configured to:
determine whether the target object is traveling in the same lane as the primary vehicle; and
forego the response in the primary vehicle if the target object is determined to be traveling in a lane different from the primary vehicle.

16. The primary vehicle of claim 15 , wherein determination of whether the target object is traveling in the same lane as the primary vehicle is based on the plurality of images.

17. The primary vehicle of claim 15 , wherein determination of whether the target object is traveling in the same lane as the primary vehicle is based on at least one of predetermined map data or yaw rate of the primary vehicle.

18. The primary vehicle of claim 11 , wherein the response includes an emergency avoidance action.

19. The primary vehicle of claim 11 , wherein the emergency avoidance action includes changing lanes.

20. The primary vehicle of claim 11 , wherein the emergency avoidance action includes emergency braking.

21. A method for navigating a primary vehicle, the method comprising:
acquiring, via at least one camera, a plurality of images of an area in a vicinity of the primary vehicle;
identifying a target object within the plurality of images;
monitoring, based on the plurality of images, a motion of the target object and a distance between the primary vehicle and the target object;
determining an indicator of an intercept time between the primary vehicle and the target object based on the monitored motion and the distance between the primary vehicle and the target object; and
causing a response in the primary vehicle based on a comparison of the indicator of the intercept time to a predetermined intercept threshold, wherein the response is based on an average motion or an actual motion of the target object when the indicator of the intercept time is greater than or equal to the predetermined intercept threshold, and the response includes an emergency avoidance action when the indicator of the intercept time is below the predetermined intercept threshold.

22. The method of claim 21 , further comprising determining, based on the plurality of images, the intercept time based on an indicator of speed of the target object.

23. The method of claim 21 , further comprising determining, based on the plurality of images, the intercept time based on an indicator of an acceleration of the target object.

24. The method of claim 21 , further comprising:
determining whether the target object is traveling in the same lane as the primary vehicle; and
foregoing the response in the primary vehicle if the target object is determined to be traveling in a lane different from the primary vehicle.

25. The method of claim 24 , wherein determination of whether the target object is traveling in the same lane as the primary vehicle is based on

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Clarke Anna
• Bagon Eyal

Classifications

• G01C21/3658

  Lane guidance · CPC title

• B60W2552/30

  Road curve radius · CPC title

• G06V20/56

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• B60W2554/4041

  Position · CPC title

• B60W2556/50

  of positioning data, e.g. GPS [Global Positioning System] data · CPC title