Systems and methods for navigating a vehicle using coast control
System and methods are disclosed for navigating a host vehicle. In one implementation, at least one processing device may be programmed to receive a plurality of images representative of an environment of the host vehicle, identify, in at least one of the plurality of images a representation of, a target vehicle, determine a separation distance between the host vehicle and the target vehicle, if the separation distance is less than a comfort distance threshold, cause a reduction in a throttle level associated with a throttle system of the host vehicle without activating a braking system associated with the host vehicle, and if the separation distance is determined to be greater than but trending toward a safe distance threshold, which is less than the comfort distance threshold, cause activation of the braking system associated with the host vehicle.
1 . A system for navigating a host vehicle, 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 a plurality of images acquired by a camera onboard the host vehicle;
identify a representation of a target vehicle in at least one of the plurality of images;
at a first time,
determine a first separation distance between the host vehicle and the target vehicle; and
in response to determining that the first separation distance is less than a comfort distance threshold, cause a reduction in a throttle level associated with a throttle system of the host vehicle without activating a braking system associated with the host vehicle; and
at a second time after the first time,
determine a second separation distance between the host vehicle and the target vehicle; and
in response to determining that the second separation distance is greater than but trending toward a safe distance threshold, which is less than the comfort distance threshold, cause a reduction in the throttle level associated with the throttle system of the host vehicle and activation of the braking system associated with the host vehicle.
2 . The system of claim 1 , wherein the reduction in the throttle level is maintained until the separation distance is greater than or equal to the comfort distance threshold.
3 . The system of claim 1 , wherein the reduction in the throttle level is to a minimum throttle level of the throttle system.
4 . The system of claim 1 , wherein the memory further includes instructions that when executed by the circuitry cause the at least one processor to: monitor the separation distance after the reduction in throttle, and as the separation distance approaches the comfort distance threshold, cause an increase in the throttle level associated with the throttle system.
5 . The system of claim 4 , wherein the increase in the throttle level includes a progression from an initial throttle level to a target throttle level over a time interval.
6 . The system of claim 5 , wherein the progression is non-linear over the time interval.
7 . The system of claim 5 , wherein, over the time interval, the progression exhibits a gradually increasing slope from an initial slope value.
8 . The system of claim 7 , wherein the initial slope value is zero.
9 . The system of claim 5 , wherein the initial throttle level corresponds to a minimum throttle level of the throttle system.
10 . The system of claim 1 , wherein the memory further includes instructions that when executed by the circuitry cause the at least one processor to: cause a reduction in the throttle level associated with the throttle system, without activating the braking system associated with the host vehicle, if the separation distance is greater than the comfort distance threshold, but trending toward the comfort distance threshold.
11 . The system of claim 1 , wherein activation of the braking system as the separation distance is trending toward the safe distance threshold includes applying at least one brake associated with the host vehicle at a first braking level that is less than a second braking level for the at least one brake if the separation distance is below the safe distance threshold.
12 . The system of claim 11 , wherein the second braking level corresponds to a maximum braking level for the at least one brake.
13 . The system of claim 1 , wherein the separation distance is determined based on an output of at least one LIDAR system associated with the host vehicle.
14 . The system of claim 1 , wherein the separation distance is determined based on structure in motion analysis performed relative to the plurality of images.
15 . The system of claim 1 , wherein the comfort distance threshold corresponds to an acceleration distance of the host vehicle summed with a minimum stopping distance of the host vehicle minus a minimum stopping distance of the target vehicle, and wherein the minimum stopping distance of the host vehicle is determined based on a sub-maximal braking level of the host vehicle associated with a braking acceleration level less than a predetermined braking acceleration level.
16 . The system of claim 15 , wherein the acceleration distance of the host vehicle corresponds to a distance the host vehicle travels over a predetermined period of time, at a maximum acceleration rate for the host vehicle, and starting from a current speed of the host vehicle.
17 . The system of claim 15 , wherein the minimum stopping distance of the host vehicle corresponds to a distance the host vehicle travels while being slowed from an initial speed to a stopped state at the sub-maximal braking level.
18 . The system of claim 15 , wherein the minimum stopping distance of the target vehicle corresponds to a distance the target vehicle travels while being slowed from a detected current speed of the target vehicle to a stopped state at a predicted maximum rate of braking for the target vehicle.
19 . The system of claim 1 , wherein the safe distance threshold corresponds to an acceleration distance of the host vehicle summed with a minimum stopping distance of the host vehicle minus a minimum stopping distance of the target vehicle.
20 . The system of claim 19 , wherein the acceleration distance of the host vehicle corresponds to a distance the host vehicle travels over a predetermined period of time, at a maximum acceleration rate for the host vehicle, and starting from a current speed of the host vehicle.
21 . The system of claim 19 , wherein the minimum stopping distance of the host vehicle corresponds to a distance the host vehicle travels while being slowed from an initial speed to a stopped state at a maximum rate of braking.
22 . The system of claim 19 , wherein the minimum stopping distance of the target vehicle corresponds to a distance the target vehicle travels while being slowed from a detected current speed of the target vehicle to a stopped state at a predicted maximum rate of braking for the target vehicle.
23 . The system of claim 1 , wherein the at least one processer is configured to determine that the second separation distance is trending toward the safe distance in response to determining that the second separation distance is decreasing over time.
24 . The system of claim 1 , wherein the at least one processer is configured to determine that the second separation distance is trending toward the safe distance in response to determining that the second separation distance is within a predetermined distance of the safety distance threshold.
25 . A method for navigating a host vehicle, the method comprising:
receiving a plurality of images acquired by a camera onboard the host vehicle;
identifying a representation of a target vehicle in at least one of the plurality of images;
at a first time,
determining a first separation distance between the host vehicle and the target vehicle; and
in response to determining that if the first separation distance is less than a comfort distance threshold, causing a reduction in a throttle level associated with a throttle system of the host vehicle without activating a braking system associated with the host vehicle; and
at a second time after the first time,
determining a second separation distance between the host vehicle and the target vehicle; and
in response to determining that the second separation distance is greater than but trending toward a safe distance threshold, which is less than the comfort distance threshold, causing a reduction in the throttle level associated with the throttle system of the host vehicle and activation of the braking system associated with the host vehicle.
26 . The method of claim 25 , wherein the reduction in the throttle level is maintained until the separation distance is greater than or equal to the comfort distance threshold.
27 . The method of claim 25 , wherein the reduction in the throttle level is to a minimum throttle level of the throttle system.
28 . The method of claim 25 , further comprising:
monitoring the separation distance after the reduction in throttle; and
as the separation distance approaches the comfort distance threshold, causing an increase in the throttle level associated with the throttle system.
29 . A non-transitory computer-readable medium containing instructions that when executed by at least one processor causes the at least one processor to perform navigation of a host vehicle, the operations comprising:
receiving a plurality of images acquired by a camera onboard the host vehicle;
identifying a representation of a target vehicle in at least one of the plurality of images;
at a first time,
determining a first separation distance between the host vehicle and the target vehicle;
in response to determining that if the first separation distance is less than a comfort distance threshold, causing a reduction in a throttle level associated with a throttle system of the host vehicle without activating a braking system associated with the host vehicle; and
at a second time after the first time,
determining a second separation distance between the host vehicle and the target vehicle; and
in response to determining that the second separation distance is greater than but trending toward a safe distance threshold, which is less than the comfort distance threshold, causing a reduction in the throttle level associated with the throttle system of the host vehicle and activation of the braking system associated with the host vehicle.
30 . The non-transitory computer-readable medium of claim 29 , wherein the reduction in the throttle level is maintained until the separation distance is greater than or equal to the comfort distance threshold.
31 . The non-transitory computer-readable medium of claim 29 , wherein the reduction in the throttle level is to a minimum throttle level of the throttle system.
32 . The non-transitory computer-readable medium of claim 29 , wherein the operations further comprise:
monitoring the separation distance after the reduction in throttle; and
as the separation distance approaches the comfort distance threshold, causing an increase in the throttle level associated with the throttle system.