Image-based velocity control for a turning vehicle

A vehicle, comprising:

• a body;
• at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the vehicle;
• a data interface;
• and
• at least one processing device configured to:
• receive the plurality of images via the data interface;
• recognize a curve to be navigated based on map data and vehicle position information;
• determine an initial target velocity for the vehicle based on at least one characteristic of the curve as reflected in the map data;
• adjust a velocity of the vehicle to the initial target velocity;
• determine, based on the plurality of images, one or more observed characteristics of the curve;
• determine an updated target velocity based on the one or more observed characteristics of the curve;
• and
• adjust the velocity of the vehicle to the updated target velocity.

A method for navigating a vehicle, the method comprising:

• acquiring, using at least one image capture device, a plurality of images of an area in a vicinity of the vehicle;
• recognizing a curve to be navigated based on map data and vehicle position information;
• determining an initial target velocity for the vehicle based on at least one characteristic of the curve as reflected in the map data;
• adjusting a velocity of the vehicle to the initial target velocity;
• determining, based on the plurality of images, one or more observed characteristics of the curve;
• determining an updated target velocity based on the one or more observed characteristics of the curve;
• and
• adjusting the velocity of the vehicle to the updated target velocity.