# US 2021/0240197 A1 · Navigation with a Safe Longitudinal Distance > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0240197 A1 - Document ID: US20210240197A1 - Status: Published application - Kind: A1 - Application number: 17/208,180 - Filed: 2021-03-22 - Published: 2021-08-05 - Earliest claimed: 2018-08-14 - Assignees: Mobileye Vision Technologies Ltd. - Applicants: Mobileye Vision Technologies Ltd. - Inventors: Shai Shalev-Shwartz; Shaked Shammah; Amnon Shashua - Web page: https://patentgrep.com/patent/US20210240197A1 ## CPC - B60W 60/0016: {of the vehicle or its occupants} - 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 30/0953: {the prediction being responsive to vehicle dynamic parameters} - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/181: {Preparing for stopping} - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 40/02: related to ambient conditions - B60W 40/105: Speed - B60W 40/107: Longitudinal acceleration - B60W 60/001: {Planning or execution of driving tasks} - B60W 60/0015: {specially adapted for safety} - B60W 60/0017: {of other traffic participants} - G01S 13/931: of land vehicles - G05D 1/0214: {in accordance with safety or protection criteria, e.g. avoiding hazardous areas (monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13)} - 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 1/0246: {using a video camera in combination with image processing means} - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G05D 1/617: Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards (arrangements for controlling the position or course of two or more vehicles for avoiding collisions therebetween G05D1/693; arrangements for reacting to or preventing system or operator failure G05D1/80) - G06T 7/20: Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - 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 20/584: {of vehicle lights or traffic lights} - G06V 40/10: Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2510/18: Braking system - B60W 2520/10: Longitudinal speed - B60W 2520/105: Longitudinal acceleration - B60W 2520/12: Lateral speed - B60W 2520/125: Lateral acceleration - B60W 2520/14: Yaw - B60W 2530/201: Dimensions of vehicle - B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads - B60W 2552/45: Pedestrian sidewalk - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/402: Type - B60W 2554/4029: Pedestrians - B60W 2554/4041: Position - B60W 2554/4042: Longitudinal speed - B60W 2554/4043: Lateral speed - B60W 2554/4044: Direction of movement, e.g. backwards - B60W 2554/4045: Intention, e.g. lane change or imminent movement - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2554/801: Lateral distance - B60W 2554/806: Relative heading - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - B60W 2720/10: Longitudinal speed - B60W 2754/20: Lateral distance - B60W 2754/30: Longitudinal distance - G01S 2013/9323: {Alternative operation using light waves} - G06T 2207/30196: Human being; Person - G06T 2207/30261: Obstacle - G06V 2201/07: Target detection - 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 - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract Systems and methods are provided for navigating a host vehicle. A processing device may be programmed to receive an image representative of an environment of the host vehicle; determine a planned navigational action for the host vehicle; analyze the image to identify a target vehicle travelling toward the host vehicle; determine a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determine a stopping distance for the host vehicle based on a braking profile, a maximum acceleration capability, and a current speed of the host vehicle; determine a stopping distance for the target vehicle based on a braking profile and a current speed of the target vehicle; and implement the planned navigational action if the determined next-state distance is greater than a sum of the stopping distances for the host vehicle and the target vehicle. ## Claims ### Claim at position 1 -80. (canceled) ### Claim 81 A system for navigating a host vehicle, the 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 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 target vehicle in the environment of the host vehicle; determine a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determine a host vehicle braking profile, a host vehicle maximum acceleration capability, and a current speed of the host vehicle; determine a stopping distance for the host vehicle based on the host vehicle braking profile, the host vehicle maximum acceleration capability, and the current speed of the host vehicle; determine a current speed of the target vehicle and a target vehicle braking profile; determine a stopping distance for the target vehicle based on the target vehicle braking profile and the current speed of the target vehicle; and implement the planned navigational action if the determined next-state distance is greater than a sum of the stopping distance for the host vehicle and the stopping distance of the target vehicle. ### Claim 82 (depends on 81) The system of claim 81, wherein the host vehicle braking profile is different from the target vehicle braking profile. ### Claim 83 (depends on 81) The system of claim 81, wherein the host vehicle braking profile and the target vehicle braking profile are determined based on a known vehicle type associated with the host vehicle and a detected vehicle type associated with the target vehicle. ### Claim 84 (depends on 81) The system of claim 81, wherein at least one of the host vehicle braking profile or the target vehicle braking profile is non-linear. ### Claim 85 (depends on 81) The system of claim 81, wherein the host vehicle braking profile includes a first braking segment, corresponding to a first predetermined time period, during which a braking rate for the host vehicle increases from a braking rate equal to zero to a maximum braking rate for the host vehicle. ### Claim 86 (depends on 85) The system of claim 85, wherein the host vehicle braking profile includes a second braking segment during which a maximum braking rate for the host vehicle is maintained until a zero velocity is achieved for the host vehicle. ### Claim 87 (depends on 81) The system of claim 81, wherein a maximum braking rate associated with the host vehicle braking profile corresponds to a predetermined sub-maximal deceleration rate less than a maximum deceleration capability of the host vehicle. ### Claim 88 (depends on 81) The system of claim 81, wherein a maximum braking rate associated with the target vehicle braking profile corresponds to a predetermined sub-maximal deceleration rate less than a maximum deceleration capability of the target vehicle. ### Claim 89 (depends on 81) The system of claim 81, wherein the current speed of the target vehicle is determined based on analysis of two or more of the received images representative of the environment of the host vehicle. ### Claim 90 (depends on 81) The system of claim 81, wherein the current speed of the target vehicle is determined based on an output of a RADAR unit or a LIDAR unit associated with the host vehicle. ### Claim 91 (depends on 81) The system of claim 81, wherein the stopping distance for the host vehicle includes a host vehicle acceleration distance that corresponds to a distance the host vehicle can travel during a host vehicle reaction time at the host vehicle maximum acceleration capability, starting from the current speed of the host vehicle. ### Claim 92 (depends on 81) The system of claim 81, wherein at least one of the host vehicle braking profile or the target vehicle braking profile includes a braking rate determined based on a sensed condition of a road surface. ### Claim 93 (depends on 81) The system of claim 81, wherein at least one of the host vehicle braking profile or the target vehicle braking profile includes a braking rate determined based on a sensed weather condition. ### Claim 94 (depends on 81) The system of claim 81, wherein the planned navigational action includes at least one of a lane change maneuver, a merge maneuver, a passing maneuver, a maintain forward heading maneuver, a parking lot navigation maneuver, or a maintain throttle action. ### Claim 95 (depends on 81) The system of claim 81, wherein the memory includes instructions that when executed by the circuitry cause the at least one processing device to implement the planned navigational action if the determined next-state distance is greater, by at least a predetermined minimum distance, than the sum of the stopping distance for the host vehicle and the stopping distance of the target vehicle. ### Claim 96 (depends on 95) The system of claim 95, wherein the predetermined minimum distance corresponds to a predetermined separation distance to be maintained between the host vehicle and other vehicles. ### Claim 97 (depends on 96) The system of claim 96, wherein the predetermined separation distance is at least one meter. ### Claim 98 A method for navigating a host vehicle, the method 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 target vehicle in the environment of the host vehicle; determining a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determining a host vehicle braking profile, a host vehicle maximum acceleration capability, and a current speed of the host vehicle; determining a stopping distance for the host vehicle based on the host vehicle braking profile, the host vehicle maximum acceleration capability, and the current speed of the host vehicle; determining a current speed of the target vehicle and a target vehicle braking profile; determining a stopping distance for the target vehicle based on the target vehicle braking profile and the current speed of the target vehicle; and implementing the planned navigational action if the determined next-state distance is greater than a sum of the stopping distance for the host vehicle and the stopping distance of the target vehicle. ### Claim 99 (depends on 98) The method of claim 98, wherein the host vehicle braking profile is different from the target vehicle braking profile. ### Claim 100 A non-transitory computer readable medium containing instructions that when executed by at least one processor, 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 a 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 target vehicle in the environment of the host vehicle; determine a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determine a host vehicle braking profile, a host vehicle maximum acceleration capability, and a current speed of the host vehicle; determine a stopping distance for the host vehicle based on the host vehicle braking profile, the host vehicle maximum acceleration capability, and the current speed of the host vehicle; determine a current speed of the target vehicle and a target vehicle braking profile; determine a stopping distance for the target vehicle based on the target vehicle braking profile and the current speed of the target vehicle; and implement the planned navigational action if the determined next-state distance is greater than a sum of the stopping distance for the host vehicle and the stopping distance of the target vehicle.