# US 12,182,878 B2 · Safe state to safe state navigation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,182,878 B2 - Document ID: US12182878B2 - Status: Granted - Kind: B2 - Application number: 18/214,692 - Filed: 2023-06-27 - Published: 2024-02-08 - Granted: 2024-12-31 - Earliest claimed: 2016-12-23 - Assignees: Mobileye Vision Technologies Ltd. - Applicants: Mobileye Vision Technologies Ltd. - Inventors: Shai Shalev-Shwartz; Amnon Shashua; Shaked Shammah - Web page: https://patentgrep.com/patent/US12182878B2 ## CPC - G06Q 40/08: Insurance - B60W 10/04: including control of propulsion units - B60W 10/18: including control of braking systems - B60W 10/20: including control of steering systems - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/095: Predicting travel path or likelihood of collision - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 60/0016: {of the vehicle or its occupants} - B60W 60/00276: {for two or more other traffic participants} - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - B62D 15/0265: {Automatic obstacle avoidance by steering} - G01C 21/3407: {specially adapted for specific applications} - 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 1/0246: {using a video camera in combination with image processing means} - G06Q 10/00: Administration; Management - G07C 5/02: Registering or indicating driving, working, idle, or waiting time only (apparatus forming part of taximeters G07B13/00) - G07C 5/08: Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time - G08G 1/163: {involving continuous checking} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 2400/00: Indexing codes relating to detected, measured or calculated conditions or factors - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2520/10: Longitudinal speed - B60W 2552/50: Barriers - 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 2554/4046: Behavior, e.g. aggressive or erratic - B60W 2554/60: Traversable objects, e.g. speed bumps or curbs - B60W 2554/801: Lateral distance - B60W 2554/802: Longitudinal distance - B60W 2554/804: Relative longitudinal speed - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - B60W 2710/18: Braking system - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR - 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 - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - 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 - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE - 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 Systems and methods are provided for navigating a host vehicle. In one implementation, a system may include a processing device configured to receive an image acquired by an image capture device; determine a planned navigational action for accomplishing a navigational goal of the host vehicle; analyze the at least one image to identify a first target vehicle ahead of the host vehicle and a second target vehicle ahead of the first target vehicle; determine a next-state distance between the host vehicle and the second target vehicle that would result if the planned navigational action was taken; determine a stopping distance for the host vehicle based on a maximum braking capability of the host vehicle and a current speed of the host vehicle; and cause the vehicle to implement the planned navigational action if the stopping distance is less than the determined next-state distance. ## Claims ### Claim 1 A system for navigating a host vehicle, the system comprising: at least one processor comprising circuitry and a memory, wherein the memory includes instructions executable by the circuitry to 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 the host vehicle; determine, based on at least one driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle; analyze the at least one image to identify a first target vehicle ahead of the host vehicle and a second target vehicle ahead of the first target vehicle; determine a next-state distance between the host vehicle and the second target vehicle that would result if the planned navigational action was taken; determine a maximum braking capability of the host vehicle and a current speed of the host vehicle; determine a stopping distance for the host vehicle based on the maximum braking capability of the host vehicle and a current speed of the host vehicle; and cause the vehicle to implement the planned navigational action if the stopping distance is less than the determined next-state distance minus a length of the first vehicle. ### Claim 2 (depends on 1) The system of claim 1, wherein the memory further includes instructions executable by the circuitry to cause the at least one processor to determine the length of the first target vehicle. ### Claim 3 (depends on 2) The system of claim 2, wherein the length of the first target vehicle is determined based on analysis of the at least one image. ### Claim 4 (depends on 1) The system of claim 1, wherein the memory further includes instructions executable by the circuitry to cause the at least one processor to: analyze the at least one image to identify a third target vehicle ahead of the first target vehicle and behind the second target vehicle, and wherein causing the vehicle to implement the planned navigational action includes causing the vehicle to implement the planned navigational action if the stopping distance is less than the determined next-state distance minus the length of the first vehicle and a length of the third vehicle. ### Claim 5 (depends on 4) The system of claim 4, wherein the memory further includes instructions executable by the circuitry to cause the at least one processor to determine the length of the third target vehicle. ### Claim 6 (depends on 1) The system of claim 1, wherein the stopping distance for the host vehicle includes an acceleration distance that corresponds to a distance the host vehicle can travel over a predetermined time period at a maximum acceleration capability of the host vehicle assuming an initial speed corresponding to the current speed of the host vehicle. ### Claim 7 (depends on 6) The system of claim 6, wherein the predetermined time period is a response time associated with the host vehicle. ### Claim 8 (depends on 1) The system of claim 1, wherein the maximum braking capability of the host vehicle is determined based on weather and road conditions of the environment. ### Claim 9 (depends on 1) The system of claim 1, wherein the stopping distance for the host vehicle includes an acceleration distance that corresponds to a distance the host vehicle can travel over a predetermined time period at a maximum acceleration capability of the host vehicle assuming an initial speed corresponding to the current speed of the host vehicle. ### Claim 10 (depends on 1) The system of claim 1, wherein the memory further includes instructions executable by the circuitry to cause the at least one processor to: determine a second target vehicle post-collision travel distance representing a distance the second target vehicle is expected to travel after an assumed collision; and wherein causing the vehicle to implement the planned navigational action includes causing the vehicle to implement the planned navigational action if the stopping distance is less than the determined next-state distance summed together with the post-collision target vehicle travel distance minus the length of the first vehicle. ### Claim 11 (depends on 10) The system of claim 10, wherein the post-collision target vehicle travel distance is a predetermined fixed distance. ### Claim 12 (depends on 10) The system of claim 10, wherein the post-collision target vehicle travel distance is based on a predetermined percentage of the next-state distance. ### Claim 13 (depends on 10) The system of claim 10, wherein causing the vehicle to implement the planned navigational action includes causing the vehicle to implement the planned navigational action if the stopping distance is less than the determined next-state distance summed together with the post-collision target vehicle travel distance minus a length of the first vehicle. ### Claim 14 (depends on 1) The system of claim 1, wherein the memory further includes instructions executable by the circuitry to cause the at least one processor to: determine a second target vehicle travel braking distance representing a distance the second target vehicle is expected to travel when braking; and wherein causing the vehicle to implement the planned navigational action includes causing the vehicle to implement the planned navigational action if the stopping distance is less than the determined next-state distance summed together with the second target vehicle travel braking distance minus the length of the first vehicle. ### Claim 15 (depends on 14) The system of claim 14, wherein the memory further includes instructions executable by the circuitry to cause the at least one processor to determine a speed of the target vehicle and assume a braking capability of the target vehicle based on a recognized characteristic of the target vehicle; and wherein the second target vehicle travel braking distance is determined based on the speed of the target vehicle and a braking capability of the target vehicle. ### Claim 16 (depends on 15) The system of claim 15, wherein the recognized characteristic of the target vehicle includes at least one of a vehicle type, a vehicle size, or a vehicle model. ### Claim 17 (depends on 15) The system of claim 15, wherein the recognized characteristic of the target vehicle is determined based on analysis of the at least one image. ### Claim 18 A computer-implemented method for automatically generating a navigational map relative to one or more road segments, comprising: receiving at least one image acquired by an image capture device, the at least one image being representative of an environment of the host vehicle; determining, based on at least one driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle; analyzing the at least one image to identify a first target vehicle ahead of the host vehicle and a second target vehicle ahead of the first target vehicle; determining a next-state distance between the host vehicle and the second target vehicle that would result if the planned navigational action was taken; determining a maximum braking capability of the host vehicle and a current speed of the host vehicle; determining a stopping distance for the host vehicle based on the maximum braking capability of the host vehicle and a current speed of the host vehicle; and causing the vehicle to implement the planned navigational action if the stopping distance is less than the determined next-state distance minus a length of the first vehicle. ### Claim 19 (depends on 18) The computer-implemented method of claim 18, wherein the memory further includes instructions executable by the circuitry to cause the at least one processor to determine the length of the first target vehicle. ### Claim 20 (depends on 19) The computer-implemented method of claim 19, wherein the length of the first target vehicle is determined based on analysis of the at least one image. ### Claim 21 (depends on 18) The computer-implemented method of claim 18, wherein the method further comprises: analyze the at least one image to identify a third target vehicle ahead of the first target vehicle and behind the second target vehicle, and wherein causing the vehicle to implement the planned navigational action includes causing the vehicle to implement the planned navigational action if the stopping distance is less than the determined next-state distance minus the length of the first vehicle and a length of the third vehicle. ### Claim 22 (depends on 21) The computer-implemented method of claim 21, wherein the method further comprises determining the length of the third target vehicle. ### Claim 23 A non-transitory computer-readable medium storing instructions that, when executed by at least one processor, are configured to cause 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 the host vehicle; determine, based on at least one driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle; analyze the at least one image to identify a first target vehicle ahead of the host vehicle and a second target vehicle ahead of the first target vehicle; determine a next-state distance between the host vehicle and the second target vehicle that would result if the planned navigational action was taken; determine a maximum braking capability of the host vehicle and a current speed of the host vehicle; determine a stopping distance for the host vehicle based on the maximum braking capability of the host vehicle and a current speed of the host vehicle; and cause the vehicle to implement the planned navigational action if the stopping distance is less than the determined next-state distance minus a length of the first vehicle. ### Claim 24 (depends on 23) The non-transitory computer-readable medium of claim 23, wherein the memory further includes instructions executable by the circuitry to cause the at least one processor to determine the length of the first target vehicle. ### Claim 25 (depends on 24) The non-transitory computer-readable medium of claim 24, wherein the length of the first target vehicle is determined based on analysis of the at least one image. ### Claim 26 (depends on 23) The non-transitory computer-readable medium of claim 23, further storing instructions that, when executed by the at least one processor, are configured to cause at least one processor to: analyze the at least one image to identify a third target vehicle ahead of the first target vehicle and behind the second target vehicle, and wherein causing the vehicle to implement the planned navigational action includes causing the vehicle to implement the planned navigational action if the stopping distance is less than the determined next-state distance minus the length of the first vehicle and a length of the third vehicle. ### Claim 27 (depends on 26) The non-transitory computer-readable medium of claim 26, wherein the method further comprises determining the length of the third target vehicle.