Navigation based on expected landmark location

Patent metadata

Field	Value
Publication number	US-9709986-B2
Application number	US-201615272789-A
Country	US
Kind code	B2
Filing date	Sep 22, 2016
Priority date	Feb 10, 2015
Publication date	Jul 18, 2017
Grant date	Jul 18, 2017

Abstract

A system for autonomously navigating a vehicle along a road segment may be based on a predetermined landmark location. The system may include at least one processor programmed to receive from a camera, at least one image representative of an environment of the vehicle, and determine a position of the vehicle along a predetermined road model trajectory associated with the road segment based, at least in part, on information associated with the at least one image. The at least one processor may be further programmed to identify a recognized landmark forward of the vehicle based on the determined position, wherein the recognized landmark is beyond a sight range of the camera, and determine a current distance between the vehicle and the recognized landmark by comparing the determined position of the vehicle with a predetermined position of the recognized landmark. The at least one processor may also be programmed to determine an autonomous navigational response for the vehicle based on the determined current distance.

First claim

What is claimed is:

1. A system for autonomously navigating a vehicle along a road segment based on a predetermined landmark location, the system comprising:
at least one processor programmed to:
receive from a camera, at least one image representative of an environment of the vehicle;
determine a position of the vehicle along a predetermined road model trajectory associated with the road segment based, at least in part, on information associated with the at least one image;
identify a recognized landmark forward of the vehicle based on the determined position, wherein the recognized landmark is beyond a sight range of the camera;
determine a current distance between the vehicle and the recognized landmark by comparing the determined position of the vehicle with a predetermined position of the recognized landmark; and
determine an autonomous navigational response for the vehicle based on the determined current distance.

2. The system of claim 1 , wherein the predetermined position of the recognized landmark is determined as an average of a plurality of acquired position measurements associated with the recognized landmark, wherein the plurality of acquired position measurements are determined based on acquisition of at least one environmental image, analysis of the at least one environmental image to identify the recognized landmark in the environment, reception of global positioning system (GPS) data, analysis of the at least one environmental image to determine a relative position of the recognized landmark with respect to the vehicle, and determination of a globally localized position of the recognized landmark based on at least the GPS data and the determined relative position.

3. The system of claim 1 , wherein the autonomous navigational response includes application of brakes associated with the vehicle.

4. The system of claim 1 , wherein the autonomous navigational response includes modifying a steering angle of the vehicle.

5. The system of claim 1 , wherein the recognized landmark includes a stop line, a traffic light, a stop sign, or a curve along the road segment.

6. The system of claim 1 , wherein the camera is included in the vehicle.

7. A method for autonomously navigating a vehicle along a road segment based on a predetermined landmark location, the method comprising:
receiving from a camera, at least one image representative of an environment of the vehicle;
determining a position of the vehicle along a predetermined road model trajectory associated with the road segment based, at least in part, on information associated with the at least one image;
identifying a recognized landmark forward of the vehicle based on the determined position, wherein the recognized landmark is beyond a sight range of the camera;
determining a current distance between the vehicle and the recognized landmark by comparing the determined position of the vehicle with a predetermined position of the recognized landmark; and
determining an autonomous navigational response for the vehicle based on the determined current distance.

8. The method of claim 7 , wherein the predetermined position of the recognized landmark is determined as an average of a plurality of acquired position measurements associated with the recognized landmark, wherein the plurality of acquired position measurements are determined based on acquisition of at least one environmental image, analysis of the at least one environmental image to identify the recognized landmark in the environment, reception of global positioning system (GPS) data, analysis of the at least one environmental image to determine a relative position of the recognized landmark with respect to the vehicle, and determination of a globally localized position of the recognized landmark based on at least the GPS data and the determined relative position.

9. The method of claim 7 , wherein the autonomous navigational response includes application of brakes associated with the vehicle.

10. The method of claim 7 , wherein the autonomous navigational response includes modifying a steering angle of the vehicle.

11. The method of claim 7 , wherein the recognized landmark includes a stop line, a traffic light, a stop sign, or a curve along the road segment.

12. The method of claim 7 , wherein the camera is included in the vehicle.

13. A non-transitory computer readable medium storing instructions causing at least one processor to perform autonomous navigation of a vehicle along a road segment, the instructions causing the processor to perform the steps of:
receiving from a camera, at least one image representative of an environment of the vehicle;
determining a position of the vehicle along a predetermined road model trajectory associated with the road segment based, at least in part, on information associated with the at least one image;
identifying a recognized landmark forward of the vehicle based on the determined position, wherein the recognized landmark is beyond a sight range of the camera;
determining a current distance between the vehicle and the recognized landmark by comparing the determined position of the vehicle with a predetermined position of the recognized landmark; and
determining an autonomous navigational response for the vehicle based on the determined current distance.

14. The non-transitory computer readable medium of claim 13 , wherein the autonomous navigational response includes application of brakes associated with the vehicle.

15. The non-transitory computer readable medium of claim 13 , wherein the autonomous navigational response includes modifying a steering angle of the vehicle.

16. The non-transitory computer readable medium of claim 13 , wherein the recognized landmark includes a stop line, a traffic light, a stop sign, or a curve along the road segment.

Assignees

• Mobileye Vision Technologies Ltd

Inventors

• Gdalyahu Yoram
• Shashua Amnon
• Taieb Yoav
• Braunstein Daniel
• Huberman David
• Bellaiche Levi

Classifications

• G01C21/32

  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

• G01C21/34

  Route searching; Route guidance · CPC title

• B60W30/18

  Propelling the vehicle · CPC title