Generating drivable paths for lanes
AssigneeMobileye Vision Technologies Ltd.
InventorsNitzan GOLDBERG, Bnaya CASPI
Life of this patent
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Abstract
A system for navigating a host vehicle relative to a road segment may receive drive information from a vehicle that previously traversed the road segment. Based on at least one road topography indicator, a representation of a first boundary and a second boundary of a lane of travel associated with the road segment may be determined. A left side boundary and a right side boundary of a virtual sleeve associated with the lane of travel may be determined. A vehicle drivable path for the road segment based on the left side boundary and the right side boundary of the virtual sleeve may be generated. The generated vehicle drivable path may be stored in the map. The map may be distributed to at least one host vehicle navigation system.
Claims28
A system for navigating a host vehicle relative to a road segment, the system comprising:
- at least one processor comprising circuitry and a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processor to:
- receive drive information from a vehicle that previously traversed the road segment, wherein the drive information includes at least one road topography indicator;
- determine, based on the at least one road topography indicator, a representation of a first boundary and a second boundary of a lane of travel associated with the road segment;
- determine a left side boundary and a right side boundary of a virtual sleeve associated with the lane of travel, wherein an area associated with the virtual sleeve over a section of the road segment differs from an area associated with the lane of travel over the section of the road segment;
- generate a vehicle drivable path for the road segment based on the left side boundary and the right side boundary of the virtual sleeve;
- store the generated vehicle drivable path in the map;
- and
- distribute the map to at least one host vehicle navigation system for use in navigating the host vehicle along the road segment relative to the stored drivable path.
A method for navigating a host vehicle relative to a road segment, the method comprising:
- receiving drive information from a vehicle that previously traversed the road segment, wherein the drive information includes at least one road topography indicator;
- determining, based on the at least one road topography indicator, a representation of a first boundary and a second boundary of a lane of travel associated with the road segment;
- determining a left side boundary and a right side boundary of a virtual sleeve associated with the lane of travel, wherein an area associated with the virtual sleeve over a section of the road segment differs from an area associated with the lane of travel over the section of the road segment;
- generating a vehicle drivable path for the road segment based on the left side boundary and the right side boundary of the virtual sleeve;
- storing the generated vehicle drivable path in the map;
- and
- distributing the map to at least one host vehicle navigation system for use in navigating the host vehicle along the road segment relative to the stored drivable path.
A non-transitory computer readable medium containing instructions that when executed by at least one processor, cause the at least one processor to perform a method for operating a navigation system for a host vehicle, the method comprising:
- receiving drive information from a vehicle that previously traversed the road segment, wherein the drive information includes at least one road topography indicator;
- determining, based on the at least one road topography indicator, a representation of a first boundary and a second boundary of a lane of travel associated with the road segment;
- determining a left side boundary and a right side boundary of a virtual sleeve associated with the lane of travel, wherein an area associated with the virtual sleeve over a section of the road segment differs from an area associated with the lane of travel over the section of the road segment;
- generating a vehicle drivable path for the road segment based on the left side boundary and the right side boundary of the virtual sleeve;
- storing the generated vehicle drivable path in the map;
- and
- distributing the map to at least one host vehicle navigation system for use in navigating the host vehicle along the road segment relative to the stored drivable path.
Dependencies are inferred from the claim text.