Systems and methods for navigating a vehicle
A system for a host vehicle includes a processor programmed to receive, from an image capture device, an image representative of an environment of the host vehicle, detect at least one obstacle in the environment of the host vehicle based on an analysis of the at least one image, determine a velocity of the host vehicle and a predicted path for the host vehicle, monitor a driver input to at least one of a throttle control, a brake control, or a steering control associated with the host vehicle, and determine whether the driver input would result in the host vehicle navigating within a proximity buffer relative to the at least one obstacle, wherein the proximity buffer is determined based on the determined velocity, a maximum acceleration capacity of the host vehicle, and a maximum braking capacity of the host vehicle, and a reaction time associated with the host vehicle.
1. A system for 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 at least one image acquired by an image capture device, the at least one image being representative of an environment of the host vehicle;
detect at least one obstacle in the environment of the host vehicle based on an analysis of the at least one image;
determine a current velocity of the host vehicle and a predicted path for the host vehicle;
monitor a driver input to at least one of a throttle control, a brake control, or a steering control associated with the host vehicle;
determine a proximity buffer relative to the at least one obstacle, the proximity buffer being determined based on a sum of at least:
a host vehicle acceleration distance, determined as a distance over which the host vehicle will travel if the host vehicle accelerated from the current velocity at a maximum acceleration capability of the host vehicle over a reaction time associated with the host vehicle, and
a host vehicle stopping distance, determined as a distance required to reduce a determined speed of the host vehicle to zero at a maximum braking rate capability of the host vehicle, the determined speed corresponding to a speed of the host vehicle if the host vehicle accelerated at the maximum acceleration capability of the host vehicle over the reaction time associated with the host vehicle; and
determine, based on the predicted path, whether the driver input would result in the host vehicle navigating within the proximity buffer relative to the at least one obstacle.
2. The system of claim 1 , wherein the host vehicle acceleration distance is determined based on the current velocity multiplied by the reaction time added to the reaction time squared multiplied by one half of the maximum acceleration capacity.
3. The system of claim 1 , wherein the memory further includes instructions that when executed by the circuitry cause the at least one processor to:
allow the driver input to cause a corresponding change in one or more host vehicle motion control systems, if the at least one processing device determines that the driver input would not result in the host vehicle navigating within the proximity buffer relative to the at least one obstacle; and
prevent the driver input from causing the corresponding change in the one or more host vehicle motion control systems, if the at least one processing device determines that the driver input would result in the host vehicle navigating within the proximity buffer relative to the at least one obstacle.
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 alert a driver if the at least one processing device determines that the driver input would result in the host vehicle navigating within the proximity buffer relative to the at least one obstacle.
5. The system of claim 1 , wherein the proximity buffer is further determined based on a predetermined sub-maximal braking rate that is less than the maximum braking rate capability of the host vehicle.
6. The system of claim 1 , wherein the at least one obstacle includes a pedestrian or an object in a roadway, and the proximity buffer relative to the at least one obstacle includes at least a minimum distance to be maintained between the host vehicle and the at least one obstacle.
7. The system of claim 1 , wherein determining whether the driver input would result in the host vehicle navigating within the proximity buffer relative to the at least one obstacle comprises determining an acceleration vector of the host vehicle due to the driver input.
8. The system of claim 1 , wherein the at least one obstacle is one of a pedestrian or a target vehicle.
9. The system of claim 8 , wherein the memory further includes instructions that when executed by the circuitry cause the at least one processor to:
determine an obstacle velocity and an obstacle predicted path of one of the pedestrian or the target vehicle; and
use the determined obstacle velocity and the obstacle predicted path to determine the proximity buffer.
10. The system of claim 9 , wherein the host vehicle stopping distance comprises a difference between:
a square of a sum of the determined velocity of the host vehicle and the reaction time multiplied by the maximum acceleration capacity, and
a square of the obstacle velocity, and
wherein the host vehicle stopping distance further comprises dividing the difference by twice a value of the maximum braking rate capability.
11. The system of claim 9 , wherein the proximity buffer is further determined by an assumed maximum braking capability of the target vehicle.
12. The system of claim 9 , wherein the proximity buffer is further determined by a target vehicle stopping distance, and wherein the target vehicle stopping distance is determined as a distance required to reduce a current speed of the target vehicle to zero at the assumed maximum braking capability of the target vehicle.
13. The system of claim 9 , wherein the target vehicle is determined to be forward of the host vehicle, and wherein the at least one processor is further programmed to determine that the driver input would result in a change in a longitudinal distance between the target vehicle and the host vehicle.
14. The system of claim 9 , wherein the target vehicle is determined to be in a lane different from the host vehicle, and wherein the at least one processor is further programmed to determine that the driver input would result in a lateral movement of the host vehicle, such that after the lateral movement, the target vehicle will be forward of the host vehicle.
15. The system of claim 9 , wherein the target vehicle is determined to be in a lane different from the host vehicle, and wherein the at least one processor is further programmed to determine that the driver input would result in a lateral movement of the host vehicle, such that after the lateral movement, the host vehicle will be forward of the target vehicle.
16. A method for navigating a host vehicle, the method comprising:
receiving at least one image acquired by an image capture device, the at least one image being representative of an environment of the host vehicle;
detecting at least one obstacle in the environment of the host vehicle based on an analysis of the at least one image;
determining a current velocity of the host vehicle and a predicted path for the host vehicle;
monitoring a driver input to at least one of a throttle control, a brake control, or a steering control associated with the host vehicle;
determining a proximity buffer relative to the at least one obstacle, the proximity buffer being determined based on a sum of at least:
a host vehicle acceleration distance, determined as a distance over which the host vehicle will travel if the host vehicle accelerated from the current velocity at a maximum acceleration capability of the host vehicle over a reaction time associated with the host vehicle, and
a host vehicle stopping distance, determined as a distance required to reduce a determined speed of the host vehicle to zero at a maximum braking rate capability of the host vehicle, the determined speed corresponding to a speed of the host vehicle if the host vehicle accelerated at the maximum acceleration capability of the host vehicle over the reaction time associated with the host vehicle; and
determining, based on the predicted path, whether the driver input would result in the host vehicle navigating within the proximity buffer relative to the at least one obstacle.
17. A non-transitory computer-readable medium storing instructions that, when executed by a processor, cause the processor to perform operations comprising:
receiving, at least one image acquired by an image capture device, the at least one image being representative of an environment of a host vehicle;
detecting at least one obstacle in the environment of the host vehicle based on an analysis of the at least one image;
determining a current velocity of the host vehicle and a predicted path for the host vehicle;
monitoring a driver input to at least one of a throttle control, a brake control, or a steering control associated with the host vehicle;
determining a proximity buffer relative to the at least one obstacle, the proximity buffer being determined based on a sum of at least:
a host vehicle acceleration distance, determined as a distance over which the host vehicle will travel if the host vehicle accelerated from the current velocity at a maximum acceleration capability of the host vehicle over a reaction time associated with the host vehicle, and
a host vehicle stopping distance, determined as a distance required to reduce a determined speed of the host vehicle to zero at a maximum braking rate capability of the host vehicle, the determined speed corresponding to a speed of the host vehicle if the host vehicle accelerated at the maximum acceleration capability of the host vehicle over the reaction time associated with the host vehicle; and
determining, based on the predicted path, whether the driver input would result in the host vehicle navigating within the proximity buffer relative to the at least one obstacle.
18. The non-transitory computer-readable medium of claim 17 , wherein the operations further comprise:
allowing the driver input to cause a corresponding change in one or more host vehicle motion control systems, if the processor determines that the driver input would not result in the host vehicle navigating within the proximity buffer relative to the at least one obstacle; and
preventing the driver input from causing the corresponding change in the one or more host vehicle motion control systems, if the processor determines that the driver input would result in the host vehicle navigating within the proximity buffer relative to the at least one obstacle.