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US 12,643,537 B2Granted
Navigation based on detected size of occlusion zones
AssigneeMobileye Vision Technologies Ltd.
InventorsShai Shalev-Shwartz, Amnon Shashua, Gideon Stein, Shaked Shammah
Life of this patent
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Abstract
A navigation system for a host vehicle is provided. The system may comprise at least one processing device programmed to receive, from a camera, a plurality of images representative of an environment of the host vehicle; analyze the plurality of images to identify at least one vehicle-induced occlusion zone in an environment of the host vehicle; and cause a navigational change for the host vehicle based, at least in part, on a size of a target vehicle that induces the identified occlusion zone.
Claims32
A navigation system for a host vehicle, the system comprising:
- at least one processing device comprising circuitry and having access to a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processing device to:
- receive a plurality of images acquired by a camera, the plurality of images being representative of an environment of the host vehicle;
- analyze the plurality of images to identify at least one vehicle-induced occlusion zone in an environment of the host vehicle;
- determine a risk level of the vehicle-induced occlusion zone based on a type and a size of a target vehicle that induces the identified occlusion zone;
- and
- cause a navigational change for the host vehicle based, at least in part, on the risk level of the vehicle-induced occlusion zone, wherein causing the navigational change for the host vehicle includes causing an adjustment of a steering mechanism, a brake, or an accelerator of the host vehicle,
- wherein the navigational change for the host vehicle includes moving the host vehicle away from the vehicle-induced occlusion zone, and
- an amount that the host vehicle is moved away from the vehicle-induced occlusion zone is based on the size of the target vehicle.
5 more elements
A system for navigating a host vehicle, the system comprising:
- at least one processing device comprising circuitry and having access to a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processing device to:
- receive at least one image acquired by a camera, the at least one image being representative of an environment of the host vehicle;
- analyze the at least one image to identify an occlusion zone within the environment of the host vehicle, the occlusion zone being occluded by an occlusion-inducing object;
- identify at least one object type capable of being obscured within the occlusion zone based on a size of the occlusion zone;
- associate the at least one object type with a maximum reasonable velocity;
- and
- determine at least one navigational command for the host vehicle based on an assumption that an object of the identified at least one object type exists in the identified occlusion zone and is traveling toward a path of travel of the host vehicle at the maximum reasonable velocity, wherein the at least one navigational command causes an adjustment of a steering mechanism, a brake, or an accelerator of the host vehicle, wherein the at least one navigational command is configured to cause the host vehicle to navigate from a current travel lane to a different travel lane, and a number of lanes present between the current travel lane and the different travel lane is determined based on a size of the occlusion inducing object.
4 more elements
A method for navigating a host vehicle, the method comprising:
- receiving at least one image acquired by a camera, the at least one image being representative of an environment of the host vehicle;
- analyzing, by at least one processing device, the at least one image to identify an occlusion zone within the environment of the host vehicle, the occlusion zone being occluded by an occlusion-inducing object;
- identifying at least one object type capable of being obscured within the occlusion zone based on a size of the occlusion zone;
- associating the at least one object type with a maximum reasonable velocity;
- and
- determining at least one navigational command for the host vehicle based on an assumption that an object of the identified at least one object type exists in the identified occlusion zone and is traveling toward a path of travel of the host vehicle at the maximum reasonable velocity, wherein the at least one navigational command causes an adjustment of a steering mechanism, a brake, or an accelerator of the host vehicle, wherein the at least one navigational command is configured to cause the host vehicle to navigate from a current travel lane to a different travel lane, and a number of lanes present between the current travel lane and the different travel lane is determined based on a size of the occlusion inducing object.
3 more elements
A non-transitory computer-readable storage medium storing instructions executable by at least one processor to perform a method for navigating a host vehicle, the method comprising:
- receiving a plurality of images acquired by a camera, the plurality of images being representative of an environment of the host vehicle;
- analyzing the plurality of images to identify at least one vehicle-induced occlusion zone in an environment of the host vehicle;
- determining a risk level of the vehicle-induced occlusion zone based on a type and a size of a target vehicle that induces the identified occlusion zone;
- and
- causing a navigational change for the host vehicle based, at least in part, on the risk level of the vehicle-induced occlusion zone, wherein causing the navigational change for the host vehicle includes causing an adjustment of a steering mechanism, a brake, or an accelerator of the host vehicle,
- wherein the navigational change for the host vehicle includes moving the host vehicle away from the vehicle-induced occlusion zone, and
- an amount that the host vehicle is moved away from the vehicle-induced occlusion zone is based on the size of the target vehicle.
4 more elements
A non-transitory computer-readable storage medium storing instructions executable by at least one processor to perform a method for navigating a host vehicle, the method comprising:
- receiving a at least one image acquired by a camera, the at least one image being representative of an environment of the host vehicle;
- analyzing the at least one image to identify an occlusion zone within the environment of the host vehicle, the occlusion zone being occluded by an occlusion-inducing object;
- identifying at least one object type capable of being obscured within the occlusion zone based on a size of the occlusion zone;
- associating the at least one object type with a maximum reasonable velocity;
- and
- determining at least one navigational command for the host vehicle based on an assumption that an object of the identified at least one object type exists in the identified occlusion zone and is traveling toward a path of travel of the host vehicle at the maximum reasonable velocity, wherein the at least one navigational command causes an adjustment of a steering mechanism, a brake, or an accelerator of the host vehicle, wherein the at least one navigational command is configured to cause the host vehicle to navigate from a current travel lane to a different travel lane, and a number of lanes present between the current travel lane and the different travel lane is determined based on a size of the occlusion inducing object.
3 more elements
A method for navigating a host vehicle, the method comprising:
- receiving a plurality of images acquired by a camera, the plurality of images being representative of an environment of the host vehicle;
- analyzing the plurality of images to identify at least one vehicle-induced occlusion zone in an environment of the host vehicle;
- determining a risk level of the vehicle-induced occlusion zone based on a type and a size of a target vehicle that induces the identified occlusion zone;
- and
- causing a navigational change for the host vehicle based, at least in part, on the risk level of the vehicle-induced occlusion zone, wherein causing the navigational change for the host vehicle includes causing an adjustment of a steering mechanism, a brake, or an accelerator of the host vehicle,
- wherein the navigational change for the host vehicle includes moving the host vehicle away from the vehicle-induced occlusion zone, and
- an amount that the host vehicle is moved away from the vehicle-induced occlusion zone is based on the size of the target vehicle.
4 more elements
Dependencies are inferred from the claim text.