Systems and methods for navigating a vehicle

A system for navigating a host vehicle, the system comprising:

• at least one processing device within the host vehicle, the 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 at least one image acquired by an image capture device, the at least one image being representative of an environment of the host vehicle;
• determine, based on at least one stored driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle;
• analyze the at least one image to identify a target vehicle in the environment of the host vehicle;
• determine a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;
• determine a current speed of the host vehicle;
• determine a current speed of the target vehicle and assume a maximum braking rate capability of the target vehicle based on at least one recognized characteristic of the target vehicle determined based on analysis of the at least one image;
• determine that the host vehicle can be stopped within a host vehicle stopping distance that is less than the determined next-state distance summed together with a target vehicle travel distance determined based on the current speed of the target vehicle and the assumed maximum braking rate capability of the target vehicle, wherein the determination is based on the determined current speed of the host vehicle and at a predetermined sub-maximal braking rate that is less than a maximum braking rate capability of the host vehicle;
• and
• implement the planned navigational action based on the determination.

A system for braking 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 an output acquired by at least one sensor, the output being representative of an environment of the host vehicle;
• detect, based on the output, a target vehicle in the environment of the host vehicle;
• determine a current speed of the host vehicle, a maximum braking capability of the host vehicle, and a current distance between the host vehicle and the target vehicle, the current distance being determined based on the output from the at least one sensor;
• determine a stopping distance for the host vehicle based on the maximum braking capability of the host vehicle and the current speed of the host vehicle;
• determine, based at least upon the current speed of the host vehicle and the current distance between the host vehicle and the target vehicle, that a braking condition exists;
• based on the determined braking condition, cause application of a braking device associated with the host vehicle at a sub-maximal braking rate until a distance between the host vehicle and the target vehicle is less than or equal to the stopping distance, the submaximal braking rate being less than the maximum braking capability for the host vehicle;
• and
• cause application of the braking device associated with the host vehicle at the maximum braking capability for the host vehicle.

A non-transitory computer readable medium containing instructions that when executed by at least one processor, cause the at least one processor to:

• receive at least one image acquired by an image capture device, the at least one image being representative of an environment of a host vehicle;
• determine, based on at least one stored driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle;
• analyze the at least one image to identify a target vehicle in the environment of the host vehicle;
• determine a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;
• determine a current speed of the host vehicle;
• determine a current speed of the target vehicle and assume a maximum braking rate capability of the target vehicle based on at least one recognized characteristic of the target vehicle determined based on analysis of the at least one image;
• determine that the host vehicle can be stopped within a host vehicle stopping distance that is less than the determined next-state distance summed together with a target vehicle travel distance determined based on the current speed of the target vehicle and the assumed maximum braking rate capability of the target vehicle, wherein the determination is based on the determined current speed of the host vehicle and at a predetermined sub-maximal braking rate that is less than a maximum braking rate capability of the host vehicle;
• and
• implement the planned navigational action based on the determination.

A non-transitory computer readable medium containing instructions that when executed by at least one processor, cause the at least one processor to:

• receive at least one image acquired by an image capture device, the at least one image being representative of an environment of a host vehicle;
• determine, based on at least one stored driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle;
• analyze the at least one image to identify a target vehicle in the environment of the host vehicle;
• determine a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;
• determine a current speed of the host vehicle;
• determine a current speed of the target vehicle and assume a maximum braking rate capability of the target vehicle based on at least one recognized characteristic of the target vehicle determined based on analysis of the at least one image;
• determine that the host vehicle can be stopped within a host vehicle stopping distance that is less than the determined next-state distance summed together with a target vehicle travel distance determined based on the current speed of the target vehicle and the assumed maximum braking rate capability of the target vehicle, wherein the determination is based on the determined current speed of the host vehicle and at a predetermined sub-maximal braking rate that is less than a maximum braking rate capability of the host vehicle;
• and
• implement the planned navigational action based on the determination.

A non-transitory computer readable medium containing instructions that when executed by at least one processor, cause the at least one processor to:

• receive an output acquired by at least one sensor, the output being representative of an environment of a host vehicle;
• detect, based on the output, a target vehicle in the environment of the host vehicle;
• determine a current speed of the host vehicle, a maximum braking capability of the host vehicle, and a current distance between the host vehicle and the target vehicle, the current distance being determined based on the output from the at least one sensor;
• determine a stopping distance for the host vehicle based on the maximum braking capability of the host vehicle and the current speed of the host vehicle;
• determine, based at least upon the current speed of the host vehicle and the current distance between the host vehicle and the target vehicle, that a braking condition exists;
• based on the determined braking condition, cause application of a braking device associated with the host vehicle at a sub-maximal braking rate until a distance between the host vehicle and the target vehicle is less than or equal to the stopping distance, the submaximal braking rate being less than the maximum braking capability for the host vehicle;
• and
• cause application of the braking device associated with the host vehicle at the maximum braking capability for the host vehicle.