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US 9,150,220 B2Granted
Systems and methods for mimicking a leading vehicle
AssigneeMobileye Vision Technologies Ltd.
InventorsAnna Clarke, Eyal Bagon
Life of this patent
Estimating the term…
Abstract
Systems and methods use cameras to provide autonomous navigation features. In one implementation, a driver assist navigation system is provided for a primary vehicle. The system may include at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the primary vehicle; a data interface; and at least one processing device. The at least one processing device may be configured to: locate in the plurality of images a leading vehicle; determine, based on the plurality of images, at least one action taken by the leading vehicle; and cause the primary vehicle to mimic the at least one action of the leading vehicle.
Claims25
A driver assist navigation system for a primary vehicle, the system comprising:
- at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the primary vehicle;
- a data interface;
- and
- at least one processing device configured to:
- receive the plurality of images via the data interface;
- determine, from at least some of the plurality of images, a first lane constraint on a first side of the primary vehicle;
- determine, from at least some of the plurality of images, a second lane constraint on a second side of the primary vehicle opposite to the first side of the primary vehicle, wherein the first and second lane constraints define a lane within which the primary vehicle travels;
- cause the primary vehicle to travel within the first and second lane constraints;
- locate in the plurality of images a leading vehicle;
- determine, based on the plurality of images, at least one action taken by the leading vehicle;
- and
- cause the primary vehicle to mimic the at least one action of the leading vehicle,
- wherein the at least one action taken by the leading vehicle includes providing a first offset distance on a side of the leading vehicle adjacent to the first lane constraint that is different from a second offset distance on a side of the leading vehicle adjacent to the second lane constraint.
10 more elements
A driver assist navigation system for a primary vehicle, the system comprising:
- at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the primary vehicle;
- a data interface;
- and
- at least one processing device configured to:
- receive the plurality of images via the data interface;
- determine, from at least some of the plurality of images, a first lane constraint on a first side of the primary vehicle;
- determine, from at least some of the plurality of images, a second lane constraint on a second side of the primary vehicle opposite to the first side of the primary vehicle, wherein the first and second lane constraints define a lane within which the primary vehicle travels;
- cause the primary vehicle to travel within the first and second lane constraints;
- locate in the plurality of images a leading vehicle;
- determine, based on the plurality of images, at least one action taken by the leading vehicle;
- cause the primary vehicle to mimic the at least one action of the leading vehicle;
- determine position information for the leading vehicle and compare the position information to predetermined map data;
- create a navigation history for the leading vehicle by tracking movements of the leading vehicle relative to the predetermined map data;
- and
- determine whether to cause the primary vehicle to mimic the at least one action of the leading vehicle based on the navigation history of the leading vehicle.
12 more elements
A primary 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 primary vehicle;
- a data interface;
- and
- at least one processing device configured to:
- receive the plurality of images via the data interface;
- determine, from at least some of the plurality of images, a first lane constraint on a first side of the primary vehicle;
- determine, from at least some of the plurality of images, a second lane constraint on a second side of the primary vehicle opposite to the first side of the primary vehicle, wherein the first and second lane constraints define a lane within which the primary vehicle travels;
- cause the primary vehicle to travel within the first and second lane constraints;
- locate in the plurality of images a leading vehicle;
- determine, based on the plurality of images, at least one action taken by the leading vehicle;
- and
- cause the primary vehicle to mimic the at least one action of the leading vehicle,
- wherein the at least one action taken by the leading vehicle includes providing a first offset distance on a side of the leading vehicle adjacent to the first lane constraint that is different from a second offset distance on a side of the leading vehicle adjacent to the second lane constraint.
11 more elements
A method for navigating a primary vehicle, the method comprising:
- acquiring, using at least one image capture device, a plurality of images of an area in a vicinity of the primary vehicle;
- determining, from at least some of the plurality of images, a first lane constraint on a first side of the primary vehicle;
- determining, from at least some of the plurality of images, a second lane constraint on a second side of the primary vehicle opposite to the first side of the primary vehicle, wherein the first and second lane constraints define a lane within which the primary vehicle travels;
- causing the primary vehicle to travel within the first and second lane constraints;
- locating in the plurality of images a leading vehicle;
- determining, based on the plurality of images, at least one action taken by the leading vehicle;
- and
- causing the primary vehicle to mimic the at least one action of the leading vehicle,
- wherein the at least one action taken by the leading vehicle includes providing a first offset distance on a side of the leading vehicle adjacent to the first lane constraint that is different from a second offset distance on a side of the leading vehicle adjacent to the second lane constraint.
6 more elements
A driver assist navigation system for a primary vehicle, the system comprising:
- at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the primary vehicle;
- a data interface;
- and
- at least one processing device configured to:
- receive the plurality of images via the data interface;
- determine, from at least some of the plurality of images, a first lane constraint on a first side of the primary vehicle;
- determine, from at least some of the plurality of images, a second lane constraint on a second side of the primary vehicle opposite to the first side of the primary vehicle, wherein the first and second lane constraints define a lane within which the primary vehicle travels;
- cause the primary vehicle to travel within the first and second lane constraints;
- locate in the plurality of images a leading vehicle;
- determine, based on the plurality of images, at least one action taken by the leading vehicle;
- cause the primary vehicle to mimic the at least one action of the leading vehicle;
- determine, based on the plurality of images or based on map data and position information, whether the leading vehicle is turning at an intersection;
- and
- if the leading vehicle is determined to be turning at an intersection, decline to mimic the turn of the leading vehicle.
11 more elements
A driver assist navigation system for a primary vehicle, the system comprising;
- at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the primary vehicle;
- a data interface;
- and
- at least one processing device configured to:
- receive the plurality of images via the data interface;
- determine, from at least some of the plurality of images, a first lane constraint on a first side of the primary vehicle;
- determine, from at least some of the plurality of images, a second lane constraint on a second side of the primary vehicle opposite to the first side of the primary vehicle, wherein the first and second lane constraints define a lane within which the primary vehicle travels;
- cause the primary vehicle to travel within the first and second lane constraints;
- locate in the plurality of images a leading vehicle;
- determine, based on the plurality of images, at least one action taken by the leading vehicle;
- cause the primary vehicle to mimic the at least one action of the leading vehicle;
- determine, based on the plurality of images or based on map data and position information, whether the leading vehicle is turning at an intersection;
- determine whether the leading vehicle is changing lanes within the intersection;
- mimic the turn of the leading vehicle if the leading vehicle is determined to be turning at an intersection and not changing lanes within the intersection;
- and
- decline to mimic the turn of the leading vehicle if the leading vehicle is determined to be turning at an intersection, but changing lanes within the intersection.
13 more elements
A driver assist navigation system for a primary vehicle, the system comprising:
- at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the primary vehicle;
- a data interface;
- and
- at least one processing device configured to:
- receive the plurality of images via the data interface;
- determine, from at least some of the plurality of images, a first lane constraint on a first side of the primary vehicle;
- determine, from at least some of the plurality of images, a second lane constraint on a second side of the primary vehicle opposite to the first side of the primary vehicle, wherein the first and second lane constraints define a lane within which the primary vehicle travels;
- cause the primary vehicle to travel within the first and second lane constraints;
- locate in the plurality of images a leading vehicle;
- determine, based on the plurality of images, at least one action taken by the leading vehicle;
- cause the primary vehicle to mimic the at least one action of the leading vehicle;
- acquire a first leading vehicle based on the plurality of images;
- acquire a second leading vehicle based on the plurality of images;
- and
- cause the primary vehicle to mimic the first leading vehicle if, based on the plurality of images, the first leading vehicle is determined to be continuing on a path having less of a turning radius than a path followed by the second leading vehicle.
12 more elements
Dependencies are inferred from the claim text.