# US 11,993,290 B2 · Predicting and responding to cut in vehicles and altruistic responses > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,290 B2 - Document ID: US11993290B2 - Status: Granted - Kind: B2 - Application number: 17/710,177 - Filed: 2022-03-31 - Published: 2022-07-14 - Granted: 2024-05-28 - Earliest claimed: 2015-11-26 - Assignees: Mobileye Vision Technologies Ltd. - Applicants: Mobileye Vision Technologies Ltd. - Inventors: Gideon Stein - Web page: https://patentgrep.com/patent/US11993290B2 ## CPC - B60W 60/00274: {considering possible movement changes} - B60W 60/0016: {of the vehicle or its occupants} - 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 1/0246: {using a video camera in combination with image processing means} - G05D 1/0251: {extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision (stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593)} - G05D 1/2435: {Extracting 3D information} - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G08G 1/09623: {Systems involving the acquisition of information from passive traffic signs by means mounted on the vehicle (G08G1/0967 takes precedence)} - G08G 1/09626: {where the origin of the information is within the own vehicle, e.g. a local storage device, digital map} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - 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 - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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 A vehicle navigation system may comprise a memory including instructions and circuitry configured by the instructions to identify a target vehicle in an environment of a vehicle that includes the vehicle navigation system. The circuitry may receive image data of the target vehicle from an image capture device of the vehicle; identify, based on analysis of the image data, a situational characteristic of the target vehicle including an indication that the target vehicle is traveling behind an additional vehicle traveling slower than the target vehicle; and change a navigational state of the vehicle to allow an action of the target vehicle. The vehicle may be configured to cause the change in the navigational state based on a determination that the situational characteristic indicates that the target vehicle would benefit from the change in the navigational state. ## Claims ### Claim 1 A vehicle navigation system for a host vehicle, the vehicle navigation 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 image data captured by at least one image capture device of the host vehicle, the image data being representative of an environment of the host vehicle; identify, based on analysis of the image data, a target vehicle traveling in a lane adjacent to a lane in which the host vehicle is traveling; identify, based on analysis of the image data, one or more situational characteristics of the target vehicle indicating the target vehicle would benefit from a change in a navigational state of the host vehicle, wherein identifying the one or more situational characteristics of the target vehicle comprises: tracking a representation of the target vehicle across multiple image frames, and generating measurements of the target vehicle using one or more time-based observations, and wherein the situational characteristics of the target vehicle include: an indication that the target vehicle is traveling at a first speed behind an additional vehicle in the lane adjacent to the lane in which the host vehicle is traveling, and an indication that the additional vehicle is traveling at a second speed, wherein the second speed is lower than the first speed; determine, based on the first speed of the first target vehicle and the second speed of the additional target vehicle, that the target vehicle would benefit from a change in a navigational state of the host vehicle to allow a cut-in by the target vehicle into the lane in which the host vehicle is traveling; and cause the change in the navigational state of the host vehicle to allow the cut-in by the target vehicle. ### Claim 2 (depends on 1) The vehicle navigation system of claim 1, wherein the one or more situational characteristics indicate that the target vehicle would benefit from a course change into a path of the host vehicle. ### Claim 3 (depends on 2) The vehicle navigation system of claim 2, wherein the one or more situational characteristics further include an indication that the target vehicle has moved laterally towards the path of the host vehicle. ### Claim 4 (depends on 1) The vehicle navigation system of claim 1, wherein the cut-in by the target vehicle occurs at an interchange. ### Claim 5 (depends on 1) The vehicle navigation system of claim 1, wherein, to change the navigational state of the host vehicle, the circuitry is configured to alter a speed of the host vehicle. ### Claim 6 (depends on 1) The vehicle navigation system of claim 1, wherein, to identify the target vehicle in the environment of the host vehicle, the circuitry is configured to use radar of the host vehicle. ### Claim 7 A host vehicle comprising: at least one image capture device; and a vehicle navigation system configured to: receive image data captured by the at least one image capture device, the image data being representative of an environment of the host vehicle; identify, based on analysis of the image data, a target vehicle traveling in a lane adjacent to a lane in which the host vehicle is traveling; identify, based on analysis of the image data, one or more situational characteristics of the target vehicle indicating the target vehicle would benefit from a change in a navigational state of the host vehicle, wherein identifying the one or more situational characteristics of the target vehicle comprises: tracking a representation of the target vehicle across multiple image frames, and generating measurements of the target vehicle using one or more time-based observations, and wherein the situational characteristics of the target vehicle include: an indication that the target vehicle is traveling at a first speed behind an additional vehicle in the lane adjacent to the lane in which the host vehicle is traveling, and an indication that the additional vehicle is traveling at a second speed, wherein the second speed is lower than the first speed; determine, based on the first speed of the first target vehicle and the second speed of the additional target vehicle, that the target vehicle would benefit from a change in a navigational state of the host vehicle to allow a cut-in by the target vehicle into the lane in which the host vehicle is traveling; and cause the change in the navigational state of the host vehicle to allow the cut-in by the target vehicle. ### Claim 8 (depends on 7) The host vehicle of claim 7, wherein the one or more situational characteristics indicate that the target vehicle would benefit from a course change into a path of the host vehicle. ### Claim 9 (depends on 8) The host vehicle of claim 8, wherein the one or more situational characteristics further include an indication that the target vehicle has moved laterally towards the path of the host vehicle. ### Claim 10 (depends on 7) The host vehicle of claim 7, wherein the cut-in by the target vehicle occurs at an interchange. ### Claim 11 (depends on 7) The host vehicle of claim 7, wherein, to change the navigational state of the host vehicle, the vehicle navigation system is configured to alter a speed of the host vehicle. ### Claim 12 (depends on 7) The host vehicle of claim 7, further comprising a radar; and wherein, to identify the target vehicle in the environment of the host vehicle, the vehicle navigation system is configured to use radar of the host vehicle. ### Claim 13 At least one non-transitory machine-readable medium including instructions that, when executed by circuitry of a vehicle component for a host vehicle, cause the circuitry to perform operations comprising: receiving image data captured by at least one image capture device of the host vehicle, the image data being representative of an environment of the host vehicle; identifying, based on analysis of the image data, a target vehicle traveling in a lane adjacent to a lane in which the host vehicle is traveling; identifying, based on analysis of the image data, one or more situational characteristics of the target vehicle indicating the target vehicle would benefit from a change in a navigational state of the host vehicle, wherein identifying the one or more situational characteristics of the target vehicle comprises: tracking a representation of the target vehicle across multiple image frames, and generating measurements of the target vehicle using one or more time-based observations, and wherein the situational characteristics of the target vehicle include: an indication that the target vehicle is traveling at a first speed behind an additional vehicle in the lane adjacent to the lane in which the host vehicle is traveling, and an indication that the additional vehicle is traveling at a second speed, wherein the second speed is lower than the first speed; determining, based on the first speed of the first target vehicle and the second speed of the additional target vehicle, that the target vehicle would benefit from a change in a navigational state of the host vehicle to allow a cut-in by the target vehicle into the lane in which the host vehicle is traveling; and cause the change in the navigational state of the host vehicle to allow the cut-in by the target vehicle. ### Claim 14 (depends on 13) The at least one non-transitory machine-readable medium of claim 13, wherein the one or more situational characteristics indicate that the target vehicle would benefit from a course change into a path of the host vehicle. ### Claim 15 (depends on 14) The at least one non-transitory machine-readable medium of claim 14, wherein the one or more situational characteristics further include an indication that the target vehicle has moved laterally towards the path of the host vehicle. ### Claim 16 (depends on 13) The at least one non-transitory machine-readable medium of claim 13, wherein the cut-in by the target vehicle occurs at an interchange. ### Claim 17 (depends on 13) The at least one non-transitory machine-readable medium of claim 13, wherein changing the navigational state of the host vehicle includes altering a speed of the host vehicle. ### Claim 18 (depends on 13) The at least one non-transitory machine-readable medium of claim 13, wherein identifying the target vehicle in the environment of the host vehicle includes using radar of the host vehicle.