Systems and methods for navigating with safe distances

At least one non-transitory machine-readable storage medium comprising instructions stored thereupon, which when executed by a processor of a navigation system of a host vehicle, cause the processor to perform operations comprising:

• obtaining sensing data of an environment in a vicinity of the host vehicle, the sensing data captured from at least one sensor device of the host vehicle;
• determining a planned navigational action for accomplishing a navigational goal of the host vehicle;
• identifying, from the sensing data, a target vehicle in the environment of the host vehicle;
• predicting a distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;
• identifying a braking rate of the host vehicle, a maximum acceleration capability of the host vehicle, a current longitudinal speed of the host vehicle, and a response time of the host vehicle to apply the braking rate;
• determining a host vehicle stopping distance to bring the host vehicle to a stop, based on an evaluation of:
• (i) the identified braking rate of the host vehicle, (ii) the maximum acceleration capability of the host vehicle, (iii) the current longitudinal speed of the host vehicle, and (iv) the response time of the host vehicle to apply the identified braking rate, wherein the identified braking rate of the host vehicle is a submaximal braking rate that is less than a maximum braking capability of the host vehicle;
• identifying a braking rate of the target vehicle and a current longitudinal speed of the target vehicle;
• determining a target vehicle stopping distance to bring the target vehicle to a stop, based on an evaluation of (i) the identified braking rate of the target vehicle and (ii) the current longitudinal speed of the target vehicle;
• and
• causing the host vehicle to continue with the planned navigational action while the predicted distance of the planned navigational action is greater than a minimum safe longitudinal distance, wherein the minimum safe longitudinal distance is calculated based on;
• (i) the host vehicle stopping distance, (ii) the target vehicle stopping distance, and (iii) an acceleration distance that corresponds to a distance the host vehicle is capable to travel during the response time at the maximum acceleration capability of the host vehicle, starting from the current longitudinal speed of the host vehicle.

An apparatus, comprising:

• means for obtaining sensing data of an environment in a vicinity of a host vehicle, the sensing data captured from at least one sensor device of the host vehicle;
• and
• at least one processing means for:
• determining a planned navigational action for accomplishing a navigational goal of the host vehicle;
• identifying, from the sensing data, a target vehicle in the environment of the host vehicle;
• predicting a distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;
• identifying a braking rate of the host vehicle, a maximum acceleration capability of the host vehicle, a current longitudinal speed of the host vehicle, and a response time of the host vehicle to apply the braking rate;
• determining a host vehicle stopping distance to bring the host vehicle to a stop, based on an evaluation of:
• (i) the identified braking rate of the host vehicle, (ii) the maximum acceleration capability of the host vehicle, (iii) the current longitudinal speed of the host vehicle, and (iv) the response time of the host vehicle to apply the identified braking rate, wherein the identified braking rate of the host vehicle is a submaximal braking rate that is less than a maximum braking capability of the host vehicle;
• identifying a braking rate of the target vehicle and a current longitudinal speed of the target vehicle;
• determining a target vehicle stopping distance to bring the target vehicle to a stop, based on an evaluation of:
• (i) the identified braking rate of the target vehicle and (ii) the current longitudinal speed of the target vehicle;
• and
• causing the host vehicle to continue with the planned navigational action while the predicted distance of the planned navigational action is greater than a minimum safe longitudinal distance, wherein the minimum safe longitudinal distance is calculated based on;
• (i) the host vehicle stopping distance, (ii) the target vehicle stopping distance, and (iii) an acceleration distance that corresponds to a distance the host vehicle is capable to travel during the response time at the maximum acceleration capability of the host vehicle, starting from the current longitudinal speed of the host vehicle.