Granted Patent B2

US 9,150,220 · App. 14/560,938 · Granted Oct 6, 2015

Inventors: Anna Clarke (Har Adar, IL); Eyal Bagon (Jerusalem, IL)

Assignee: Mobileye Vision Technologies Ltd.

B60W30/00G01C21/26G01S5/0027G08G1/09

Abstract

Claims (122)

1. 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.

2. The system of claim 1 , wherein at least one of the first and second lane constraints includes a line marked on a road surface.

3. The system of claim 1 , wherein at least one of the first and second lane constraints includes an edge of a road surface.

4. The system of claim 1 , wherein at least one of the first and second lane constraints includes a determined midpoint of a road surface width.

5. The system of claim 1 , wherein the at least one action taken by the leading vehicle includes a turn, and the at least one processing device causes the primary vehicle to execute a similar turn beginning at a location at which the leading vehicle initiated its turn.

6. The system of claim 1 , wherein the at least one action taken by the leading vehicle includes an acceleration.

7. The system of claim 1 , wherein the at least one action taken by the leading vehicle includes braking.

8. 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.

9. 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.

10. The primary vehicle of claim 9 , wherein at least one of the first and second lane constraints includes a line marked on a road surface.

11. The primary vehicle of claim 9 , wherein at least one of the first and second lane constraints includes an edge of a road surface.

12. The primary vehicle of claim 9 , wherein at least one of the first and second lane constraints includes a determined midpoint of a road surface width.

13. The primary vehicle of claim 9 , wherein the at least one action taken by the leading vehicle includes a turn, and the at least one processing device causes the primary vehicle to execute a similar turn beginning at a location at which the leading vehicle initiated its turn.

14. The primary vehicle of claim 9 , wherein the at least one action taken by the leading vehicle includes an acceleration.

15. The primary vehicle of claim 9 , wherein the at least one action taken by the leading vehicle includes braking.

16. The primary vehicle of claim 9 , wherein the at least one processing device is further configured to:

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.

17. The primary vehicle of claim 9 , wherein the at least one processing device is further configured to:

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.

18. The primary vehicle of claim 9 , wherein the at least one processing device is further configured to:

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 e 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.

19. The primary vehicle of claim 9 , wherein the at least one processing device is further configured to:

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.

20. The primary vehicle of claim 19 , wherein the at least one processing device is configured to:

cause the primary vehicle to mimic a turn of the leading vehicle, even where no turn is detected based on the plurality of images, when the navigation history indicates that the leading vehicle has successfully navigated at least one prior turn.

21. 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.

22. 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.

23. 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.

24. 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.

25. The system of claim 8 , wherein the at least one processing device is configured to:

cause the primary vehicle to mimic a turn of the leading vehicle, even where no turn is detected based on the plurality of images, when the navigation history indicates that the leading vehicle has successfully navigated at least one prior turn.

Assignments (1)

Continuity (8)