Forward navigation based on rearward facing camera

Patent metadata

Field	Value
Publication number	US-9631936-B2
Application number	US-201615273047-A
Country	US
Kind code	B2
Filing date	Sep 22, 2016
Priority date	Feb 10, 2015
Publication date	Apr 25, 2017
Grant date	Apr 25, 2017

Abstract

A system for autonomously navigating a vehicle is disclosed. The system may include at least one processor and the at least one processor may be programmed to receive from a rearward facing camera, at least one image representing an area at a rear of the vehicle and analyze the at least one rearward facing image to locate in the image a representation of at least one landmark. The at least one processor may be further programmed to determine at least one indicator of position of the landmark relative to the vehicle and determine a forward trajectory for the vehicle based, at least in part, upon the indicator of position of the landmark relative to the vehicle. Additionally, the at least one processor may be programmed to cause the vehicle to navigate along the determined forward trajectory.

First claim

What is claimed is:

1. A system for autonomously navigating a vehicle, the system comprising:
at least one processor programmed to:
receive from a rearward facing camera, at least one image representing an area at a rear of the vehicle;
analyze the at least one rearward facing image to locate in the image a representation of at least one landmark;
determine at least one indicator of position of the landmark relative to the vehicle;
determine a forward trajectory for the vehicle based, at least in part, upon the indicator of position of the landmark relative to the vehicle; and
cause the vehicle to navigate along the determined forward trajectory.

2. The system of claim 1 , wherein the indicator of position includes a distance between the vehicle and the landmark.

3. The system of claim 1 , wherein the indicator of position includes a relative angle between the vehicle and the landmark.

4. The system of claim 1 , wherein the landmark includes a road edge, a lane marking, a reflector, a pole, a change in line pattern on a road, or a road sign.

5. The system of claim 1 , wherein the landmark includes a backside of a road sign.

6. The system of claim 1 , wherein the at least one processor is further programmed to determine a lane offset amount of the vehicle within a current lane of travel based on the indicator of position of the landmark, and wherein determination of the forward trajectory is further based on the determined lane offset amount.

7. The system of claim 1 , wherein the at least one processor is further programmed to receive from another camera, at least one image representing another area of the vehicle, and wherein the determination of the forward trajectory is further based on the at least one image received from the another camera.

8. A method of autonomously navigating a vehicle, comprising:
receiving from a rearward facing camera, at least one image representing an area at a rear of the vehicle;
analyzing the at least one rearward facing image to locate in the image a representation of at least one landmark;
determining at least one indicator of position of the landmark relative to the vehicle;
determining a forward trajectory for the vehicle based, at least in part, upon the indicator of position of the landmark relative to the vehicle; and
causing the vehicle to navigate along the determined forward trajectory.

9. The method of claim 8 , wherein the indicator of position includes a distance between the vehicle and the landmark.

10. The method of claim 8 , wherein the indicator of position includes a relative angle between the vehicle and the landmark.

11. The method of claim 8 , wherein the landmark includes a road edge, a lane marking, a reflector, a pole, a change in line pattern on a road, or a road sign.

12. The method of claim 8 , wherein the landmark includes a backside of a road sign.

13. The method of claim 8 , further comprising determining a lane offset amount of the vehicle within a current lane of travel based on the indicator of position of the landmark, and wherein the determining of the forward trajectory is based on the determined lane offset amount.

14. A vehicle, comprising:
a body;
a rearward facing camera; and
at least one processor programmed to:
receive, via a rearward camera interface connecting the rearward facing camera, at least one image representing an area at a rear of the vehicle;
analyze the at least one rearward facing image to locate in the image a representation of at least one landmark;
determine at least one indicator of position of the landmark relative to the vehicle;
determine a forward trajectory for the vehicle based, at least in part, upon the indicator of position of the landmark relative to the vehicle; and
cause the vehicle to navigate along the determined forward trajectory.

15. The vehicle of claim 14 , wherein the rearward facing camera is mounted on an object connected to the vehicle.

16. The vehicle of claim 15 , wherein the object is a trailer, a bike carrier, a ski/snowboard carrier, a mounting base, or a luggage carrier.

17. The vehicle of claim 14 , wherein the rearward camera interface includes a detachable interface.

18. The vehicle of claim 17 , wherein the rearward camera interface includes a wireless interface.

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Shashua Amnon
• Gdalyahu Yoram
• Hayon Gaby

Classifications

• G01C21/32 Primary

  Structuring or formatting of map data · CPC title

• G01C21/30 Primary

  Map- or contour-matching · CPC title

• B60W2555/60

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

• B62D15/025

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• G01C21/36

  Input/output arrangements for on-board computers · CPC title