# US 11,897,518 B2 · Systems and methods for navigating with sensing uncertainty

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- Number: US 11,897,518 B2
- Document ID: US11897518B2
- Status: Granted
- Kind: B2
- Application number: 17/742,836
- Filed: 2022-05-12
- Published: 2022-08-25
- Granted: 2024-02-13
- Earliest claimed: 2017-03-01
- Assignees: Mobileye Vision Technologies Ltd.
- Applicants: Mobileye Vision Technologies Ltd.
- Inventors: Shai Shalev-Shwartz; Shaked Shammah; Amnon Shashua
- Web page: https://patentgrep.com/patent/US11897518B2

## CPC

- B60W 60/00276: {for two or more other traffic participants}
- B60W 30/0956: {the prediction being responsive to traffic or environmental parameters}
- B60W 60/00274: {considering possible movement changes}
- G01C 21/3602: {Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0231: {using optical position detecting means (position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16)}
- G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)}
- G05D 1/0278: {using satellite positioning signals, e.g. GPS}
- G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
- G05D 1/248: generated by satellites, e.g. GPS
- G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras
- G06F 18/29: {Graphical models, e.g. Bayesian networks}
- G06V 10/84: using probabilistic graphical models from image or video features, e.g. Markov models or Bayesian networks
- G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle
- G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08)
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W 2420/408: Radar; Laser, e.g. lidar
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2554/00: Input parameters relating to objects
- B60W 2554/20: Static objects
- B60W 2554/4029: Pedestrians
- B60W 2554/4041: Position
- B60W 2554/4045: Intention, e.g. lane change or imminent movement
- B60W 2554/60: Traversable objects, e.g. speed bumps or curbs
- B60W 2554/802: Longitudinal distance
- B60W 2554/804: Relative longitudinal speed
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})

## Abstract

The present disclosure relates to navigational systems for vehicles. In one implementation, such a navigational system may a first output from a first sensor and a second output from a second sensor; identify a target object in the first output; and determine, based on the first output, a detected driving condition associated with the target object and whether the condition triggers a navigational constraint. If the navigational constraint is triggered, the system may cause a first navigational adjustment. If the navigational constraint is not triggered, the system may determine whether a representation of the target object is included in the second output. If the representation of the target object is included in the second output, the system may cause a second navigational adjustment. If the representation of the target object is not included in the second output, the system may forego any navigational adjustments.

## Claims

### Claim 1

A navigational system for a host vehicle, the navigational 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 a first output captured by a first sensor onboard the host vehicle, wherein the first output is associated with a first portion of an environment of the host vehicle;
receive a second output captured by a second sensor onboard the host vehicle, wherein the second output is associated with a second portion of the environment of the host vehicle, and wherein the second portion at least partially overlaps with the first portion;
identify a representation of a target object in the first output;
determine, based on the first output, a detected driving condition associated with the target object and whether the detected driving condition triggers at least one navigational constraint, the at least one navigational constraint being configured to limit one or more navigational actions available to the host vehicle;
based on a determination that the at least one navigational constraint is triggered by the detected driving condition, cause at least a first adjustment to the one or more navigational actuators of the host vehicle in response to the target object; and
based on a determination that the at least one navigational constraint is not triggered by the detected driving condition, determine whether a representation of the target object is included in the second output at a location in the second output corresponding to a location of the target object in the first output, and:
when the representation of the target object is included in the second output, cause at least a second adjustment to one or more navigational actuators of the host vehicle in response to the target object, the second adjustment being different from the first adjustment; or
when the representation of the target object is not included in the second output, forego any adjustments to the one or more navigational actuators of the host vehicle in response to the target object.

### Claim 2 (depends on 1)

The navigational system of claim 1, wherein the memory further includes instructions that when executed by the circuitry cause the at least one processing device to forego determining whether a representation of the target object is included in the second output based on the determination that the at least one navigational constraint is triggered by the detected driving condition.

### Claim 3 (depends on 1)

The navigational system of claim 1, wherein determining whether the representation of the target object is included in the second output at the location in the second output corresponding to the location of the target object in the first output includes mapping locations in the first output to locations in the second output.

### Claim 4 (depends on 1)

The navigational system of claim 1, wherein determining whether the representation of the target object is included in the second output includes determining a classification of a representation of an object included in the second output at the location in the second output corresponding to the location of the target object in the first output.

### Claim 5 (depends on 1)

The navigational system of claim 1, wherein the target object includes at least one of another vehicle, a stationary object on a roadway, a pedestrian, or a lane marking.

### Claim 6 (depends on 1)

The navigational system of claim 1, wherein the target object is associated with an occlusion zone.

### Claim 7 (depends on 1)

The navigational system of claim 1, wherein the at least one navigational constraint is associated with a distance to at least one of a detected object, a detected pedestrian, or a detected occlusion zone.

### Claim 8 (depends on 6)

The navigational system of claim 6, wherein the detected object is different from the target object.

### Claim 9 (depends on 1)

The navigational system of claim 1, wherein the at least one navigational constraint is associated with a size of a detected occlusion zone.

### Claim 10 (depends on 1)

The navigational system of claim 1, wherein the at least one navigational constraint is associated with a type of object an occlusion zone is based on.

### Claim 11 (depends on 1)

The navigational system of claim 1, wherein the at least one navigational constraint includes a predetermined safety constraint.

### Claim 12 (depends on 1)

The navigational system of claim 1, wherein the at least one navigational constraint is associated with a relative speed between the host vehicle and a detected object.

### Claim 13 (depends on 1)

The navigational system of claim 1, wherein the at least one navigational constraint includes a time-to-collision to a detected object.

### Claim 14 (depends on 1)

The navigational system of claim 1, wherein the detected driving condition includes at least one of a detected object, a detected vehicle, a detected pedestrian, a detected lane of a roadway, or a detected occlusion zone.

### Claim 15 (depends on 1)

The navigational system of claim 1, wherein the first sensor includes at least one of a camera, a LIDAR, a radar, or a directional microphone.

### Claim 16 (depends on 1)

The navigational system of claim 1, wherein the second sensor includes at least one of a camera, a LIDAR, a radar, or a directional microphone.

### Claim 17 (depends on 1)

The navigational system of claim 1, wherein the first adjustment includes an adjustment to at least one of a throttling system, a braking system, or a steering system.

### Claim 18 (depends on 1)

The navigational system of claim 1, wherein the first adjustment is based on a constraint associated with passenger safety and the second adjustment is based on a constraint associated with passenger comfort.

### Claim 19

A method for navigating a vehicle, the method comprising:
receiving a first output captured by a first sensor onboard the host vehicle, wherein the first output is associated with a first portion of an environment of the host vehicle;
receiving a second output captured by a second sensor onboard the host vehicle, wherein the second output is associated with a second portion of the environment of the host vehicle, and wherein the second portion at least partially overlaps with the first portion;
identifying a representation of a target object in the first output;
determining, based on the first output, a detected driving condition associated with the target object and whether the detected driving condition triggers at least one navigational constraint, the at least one navigational constraint being configured to limit one or more navigational actions available to the host vehicle;
based on a determination that the at least one navigational constraint is triggered by the detected driving condition, causing at least a first adjustment to the one or more navigational actuators of the host vehicle in response to the target object; and
based on a determination that the at least one navigational constraint is not triggered by the detected driving condition, determining whether a representation of the target object is included in the second output at a location in the second output corresponding to a location of the target object in the first output, and:
when the representation of the target object is included in the second output, causing at least a second adjustment to one or more navigational actuators of the host vehicle in response to the target object, the second adjustment being different from the first adjustment; or
when the representation of the target object is not included in the second output, foregoing any adjustments to the one or more navigational actuators of the host vehicle in response to the target object.

### Claim 20 (depends on 19)

The method of claim 19, further comprising foregoing determining whether a representation of the target object is included in the second output based on the determination that the at least one navigational constraint is triggered by the detected driving condition.

### Claim 21 (depends on 19)

The method of claim 19, wherein determining whether the representation of the target object is included in the second output at the location in the second output corresponding to the location of the target object in the first output includes mapping locations in the first output to locations in the second output.

### Claim 22 (depends on 19)

The method of claim 19, wherein determining whether the representation of the target object is included in the second output includes determining a classification of a representation of an object included in the second output at the location in the second output corresponding to the location of the target object in the first output.

### Claim 23

A non-transitory computer-readable medium comprising instructions that are executable by at least one processor to cause the at least one processor to perform a method for navigating a vehicle, the method comprising:
receiving a first output captured by a first sensor onboard the host vehicle, wherein the first output is associated with a first portion of an environment of the host vehicle;
receiving a second output captured by a second sensor onboard the host vehicle, wherein the second output is associated with a second portion of the environment of the host vehicle, and wherein the second portion at least partially overlaps with the first portion;
identifying a representation of a target object in the first output;
determining, based on the first output, a detected driving condition associated with the target object and whether the detected driving condition triggers at least one navigational constraint, the at least one navigational constraint being configured to limit one or more navigational actions available to the host vehicle;
based on a determination that the at least one navigational constraint is triggered by the detected driving condition, causing at least a first adjustment to the one or more navigational actuators of the host vehicle in response to the target object; and
based on a determination that the at least one navigational constraint is not triggered by the detected driving condition, determining whether a representation of the target object is included in the second output at a location in the second output corresponding to a location of the target object in the first output, and:
when the representation of the target object is included in the second output, causing at least a second adjustment to one or more navigational actuators of the host vehicle in response to the target object, the second adjustment being different from the first adjustment; or
when the representation of the target object is not included in the second output, foregoing any adjustments to the one or more navigational actuators of the host vehicle in response to the target object.

### Claim 24

A host vehicle, the host vehicle comprising:
a first sensor;
a second sensor; and
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 a first output captured by the first sensor, wherein the first output is associated with a first portion of an environment of the host vehicle;
receive a second output captured by the second sensor, wherein the second output is associated with a second portion of the environment of the host vehicle, and wherein the second portion at least partially overlaps with the first portion;
identify a representation of a target object in the first output;
determine, based on the first output, a detected driving condition associated with the target object and whether the detected driving condition triggers at least one navigational constraint, the at least one navigational constraint being configured to limit one or more navigational actions available to the host vehicle;
based on a determination that the at least one navigational constraint is triggered by the detected driving condition, cause at least a first adjustment to the one or more navigational actuators of the host vehicle in response to the target object; and
based on a determination that the at least one navigational constraint is not triggered by the detected driving condition, determine whether a representation of the target object is included in the second output at a location in the second output corresponding to a location of the target object in the first output, and:
when the representation of the target object is included in the second output, cause at least a second adjustment to one or more navigational actuators of the host vehicle in response to the target object, the second adjustment being different from the first adjustment; or
when the representation of the target object is not included in the second output, forego any adjustments to the one or more navigational actuators of the host vehicle in response to the target object.