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US 12,441,353 B2Granted
Free space mapping and navigation
AssigneeMobileye Vision Technologies Ltd.
InventorsDaniel Braunstein, Ishay Levi, Kfir Viente, David Huberman, Matan Argaman
Life of this patent
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Abstract
A system for mapping road segment free spaces for use in autonomous vehicle navigation. The system includes at least one processor programmed to: receive from a first vehicle one or more location identifiers associated with a lateral region of free space adjacent to a road segment; update an autonomous vehicle road navigation model for the road segment to include a mapped representation of the lateral region of free space based on the received one or more location identifiers; and distribute the updated autonomous vehicle road navigation model to a plurality of autonomous vehicles.
Claims39
A system for mapping road segment free spaces for use in autonomous vehicle navigation, the system comprising:
- at least one processor programmed to:
- receive from a first vehicle, one or more location identifiers detected by the first vehicle as the first vehicle navigates along a road segment according to a target trajectory, the one or more location identifiers being associated with a lateral region of free space adjacent to and intersecting with the road segment, wherein each of the one or more location identifiers associated with the lateral region of free space adjacent to and intersecting with the road segment includes coordinates that are relative to the target trajectory according to which the vehicle navigates;
- update an autonomous vehicle road navigation model for the road segment to include a mapped representation of the lateral region of free space adjacent to and intersecting with the road segment based on the one or more location identifiers, wherein the autonomous vehicle road navigation model for the road segment includes the target trajectory;
- and
- distribute the updated autonomous vehicle road navigation model to a plurality of autonomous vehicles, at least one of the autonomous vehicles being configured to autonomously navigate along the target trajectory based on the mapped representation of the lateral region of free space adjacent to and intersecting with the road segment included in the updated autonomous vehicle road navigation model, the autonomous navigation including causing implementation of a navigational action to avoid a potential collision based on a determination that the lateral region of free space adjacent to and intersecting with the road segment has a size sufficient to allow a pedestrian or a vehicle to enter the road segment.
2 more elements
A computer-implemented method for mapping road segment free spaces for use in autonomous vehicle navigation, comprising:
- receiving from a first vehicle, one or more location identifiers detected by the first vehicle as the first vehicle navigates along a road segment according to a target trajectory, the one or more location identifiers being associated with a lateral region of free space adjacent to and intersecting with the road segment, wherein each of the one or more location identifiers associated with the lateral region of free space adjacent to and intersecting with the road segment includes coordinates that are relative to the target trajectory according to which the vehicle navigates;
- updating an autonomous vehicle road navigation model for the road segment to include a mapped representation of the lateral region of free space adjacent to and intersecting with the road segment based on the one or more location identifiers, wherein the autonomous vehicle road navigation model for the road segment includes the target trajectory;
- and
- distributing the updated autonomous vehicle road navigation model to a plurality of autonomous vehicles, at least one of the autonomous vehicles being configured to autonomously navigate along the target trajectory based on the mapped representation of the lateral region of free space adjacent to and intersecting with the road segment included in the updated autonomous vehicle road navigation model, the autonomous navigation including causing implementation of a navigational action to avoid a potential collision based on a determination that the lateral region of free space adjacent to and intersecting with the road segment has a size sufficient to allow a pedestrian or a vehicle to enter the road segment.
1 more element
A non-transitory computer-readable medium storing instructions executable by at least one processor to perform a method, the method comprising:
- receiving from a first vehicle, one or more location identifiers detected by the first vehicle as the first vehicle navigates along a road segment according to a target trajectory, the one or more location identifiers being associated with a lateral region of free space adjacent to and intersecting with the road segment, wherein each of the one or more location identifiers associated with the lateral region of free space adjacent to and intersecting with the road segment includes coordinates that are relative to the target trajectory according to which the vehicle navigates;
- updating an autonomous vehicle road navigation model for the road segment to include a mapped representation of the lateral region of free space adjacent to and intersecting with the road segment based on the one or more location identifiers, wherein the autonomous vehicle road navigation model for the road segment includes the target trajectory;
- and
- distributing the updated autonomous vehicle road navigation model to a plurality of autonomous vehicles, at least one of the autonomous vehicles being configured to autonomously navigate along the target trajectory based on the mapped representation of the lateral region of free space adjacent to and intersecting with the road segment included in the updated autonomous vehicle road navigation model, the autonomous navigation including causing implementation of a navigational action to avoid a potential collision based on a determination that the lateral region of free space adjacent to and intersecting with the road segment has a size sufficient to allow a pedestrian or a vehicle to enter the road segment.
1 more element
Dependencies are inferred from the claim text.