Multi-threshold reaction zone for autonomous vehicle navigation

A primary vehicle, comprising:

• a body;
• at least one camera 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;
• identify a target object within the plurality of images;
• monitor, via the plurality of images, a motion of the target object and a distance between the primary vehicle and the target object;
• determine an indicator of an intercept time between the primary vehicle and the target object based on the monitored motion and the monitored distance between the primary vehicle and the target object;
• and
• cause a response in the primary vehicle based on a comparison of the indicator of the intercept time to a plurality of predetermined intercept thresholds,
• wherein the response is based on an average motion of the target object if the indicator of the intercept time exceeds one or more of the predetermined intercept thresholds, and the response is based on actual motion of the target object if the indicator of the intercept time does not exceed the one or more predetermined intercept thresholds.

A method for navigating a primary vehicle, the method comprising:

• acquiring, via at least one camera, a plurality of images of an area in a vicinity of the primary vehicle;
• identifying a target object within the plurality of images;
• monitoring, based on the plurality of images, a motion of the target object and a distance between the primary vehicle and the target object;
• determining an indicator of an intercept time between the primary vehicle and the target object based on the monitored motion and the monitored distance between the primary vehicle and the target object;
• and
• causing a response in the primary vehicle based on a comparison of the indicator of the intercept time to a plurality of predetermined intercept thresholds,
• wherein the response is based on an average motion of the target object if the indicator of the intercept time exceeds one or more of the predetermined intercept thresholds, and the response is based on actual motion of the target object if the indicator of the intercept time does not exceed the one or more predetermined intercept thresholds.