Safety and comfort constraints for navigation

A computer-implemented method for a host vehicle, the method comprising:

• receiving an optical image obtained from an image sensor associated with the host vehicle and information from a lidar or radar signal obtained from a lidar or radar system associated with the host vehicle, wherein the image sensor and the lidar or radar system are onboard the host vehicle, and are in different physical locations on the host vehicle;
• generating an identification of a target object from objects captured in the optical image;
• determining whether a characteristic of the target object triggers at least one navigational constraint by:
• verifying the identification of the target object and comparing the identification of the target object to the at least one navigational constraint based on information from the optical image;
• and
• if the at least one navigational constraint is not triggered based on the information from the optical image, then verifying the identification of the target object and comparing the identification of the target object to the at least one navigational constraint based on fusion of the information from the optical image and the information from the lidar or radar signal;
• and
• in response to determining that the characteristic of the target object triggers the at least one navigational constraint, cause at least one navigational change to the host vehicle.

A non-transitory, computer-readable medium capable of storing instructions that, when executed by at least one processing device, cause the at least one processing device to:

• receive an optical image obtained from an image sensor associated with a host vehicle and information from a lidar or radar signal obtained from a lidar or radar system associated with the host vehicle, wherein the image sensor and the lidar or radar system are onboard the host vehicle, and are in different physical locations on the host vehicle;
• generate an identification of a target object from objects captured in the optical image;
• determine whether a characteristic of the target object triggers at least one navigational constraint by:
• verifying the identification of the target object and comparing the identification of the target object to the at least one navigational constraint based on information from the optical image;
• and
• if the at least one navigational constraint is not triggered based on the information from the optical image, then verifying the identification of the target object and comparing the identification of the target object to the at least one navigational constraint based on a fusion of the information from the optical image and the information from the lidar or radar signal;
• and
• in response to determining that the characteristic of the target object triggers the at least one navigational constraint, cause at least one navigational change to the host vehicle.

An apparatus for a host vehicle, the apparatus comprising:

• a memory means for storing an optical image obtained from an image sensor associated with the host vehicle and information from a lidar or radar signal obtained from a lidar or radar system associated with the host vehicle, wherein the image sensor and the lidar or radar system are onboard the host vehicle, and are in different physical locations on the host vehicle;
• and
• at least one processor means that includes an input means, an identifying means, a determining means, a verifying means, and an output means, the processor means programmed to:
• cause the input means to receive the optical image and the information from the lidar or radar signal;
• cause the identifying means to generate an identification of a target object from objects captured in the optical image;
• cause the determining means to determine whether a characteristic of the target object triggers at least one navigational constraint by:
• causing the verifying means to verify the identification of the target object and causing the determining means to compare the identification of the target object to the at least one navigational constraint based on information from the optical image;
• and
• if the at least one navigational constraint is not triggered based on the information from the optical image, then causing the verifying means to verify the identification of the target object and causing the determining means to compare the identification of the target object to the at least one navigational constraint based on a fusion of the information from the optical image and the information from the lidar or radar signal;
• and
• in response to determining that the characteristic of the target object triggers the at least one navigational constraint, cause the output means to output a signal that initiates at least one navigational change to the host vehicle.