Prioritized constraints for a navigational system
A navigation system for a host vehicle is provided. The system may comprise at least one processing device programmed to receive, from a camera, a plurality of images representative of an environment of the host vehicle; analyze the plurality of images to identify a navigational state associated with the host vehicle; determine a first predefined navigational constraint and a second predefined navigational constraint implicated by the navigational state; determine, based on the identified navigational state, a first navigational action for the host vehicle where both the first predefined navigational constraint and the second predefined navigational constraint can be satisfied; determine, based on the identified navigational state, a second navigational action for the host vehicle where the first predefined navigational constraint and the second predefined navigational constraint cannot both be satisfied; and cause at least one adjustment of a navigational actuator of the host vehicle.
1. A navigation system for a host vehicle, the system comprising:
at least one processing device programmed to:
receive, from a camera, a plurality of images representative of an environment of the host vehicle;
analyze the plurality of images to determine a navigational state associated with the host vehicle, the navigational state being associated with sensed information associated with the environment of the host vehicle;
determine a first predefined navigational constraint and a second predefined navigational constraint implicated by the navigational state, wherein the first predefined navigational constraint differs from the second predefined navigational constraint, and wherein the second predefined navigational constraint has a priority higher than the first predefined navigational constraint;
determine, based on the identified navigational state, a first navigational action for the host vehicle satisfying both the first predefined navigational constraint and the second predefined navigational constraint where both the first predefined navigational constraint and the second predefined navigational constraint can be satisfied;
determine, based on the identified navigational state, a second navigational action for the host vehicle satisfying the second predefined navigational constraint, but not satisfying the first predefined navigational constraint, where the first predefined navigational constraint and the second predefined navigational constraint cannot both be satisfied; and
cause at least one adjustment of a navigational actuator of the host vehicle in response to the determined first navigational action or the determined second navigational action for the host vehicle.
2. The navigation system of claim 1 , wherein determination of the second navigational action occurs in a trained navigational system.
3. The navigation system of claim 1 , wherein the first predefined navigational constraint includes a target vehicle envelope defining a first buffer zone within which navigation of the host vehicle is prohibited, and wherein the second predefined navigational constraint includes a pedestrian envelope defining a second buffer zone within which navigation of the host vehicle is prohibited.
4. The navigation system of claim 3 , wherein at least a portion of the first buffer zone extends a predetermined distance from a detected target vehicle.
5. The navigation system of claim 3 , wherein at least a portion of the second buffer zone extends a predetermined distance from a detected pedestrian.
6. The navigation system of claim 1 , wherein the first predefined navigational constraint includes at least one of a stationary object envelope, a road barrier buffer zone, a maximum speed of travel when passing within an influence zone of a detected pedestrian, or a maximum deceleration rate for the host vehicle, and wherein the second predefined navigational constraint includes at least one of a target vehicle envelope or a pedestrian envelope.
7. The navigation system of claim 1 , wherein the navigational actuator includes at least one of a steering mechanism, a brake, or an accelerator.
8. An autonomous vehicle, the autonomous vehicle comprising:
a frame;
a body attached to the frame;
a camera; and
a navigation system, the navigation system comprising:
at least one processing device programmed to:
receive, from a camera, a plurality of images representative of an environment of the autonomous vehicle;
analyze the plurality of images to determine a navigational state associated with the autonomous vehicle, the navigational state being associated with sensed information associated with the environment of the host vehicle;
determine a first predefined navigational constraint and a second predefined navigational constraint implicated by the navigational state, wherein the first predefined navigational constraint differs from the second predefined navigational constraint, and wherein the second predefined navigational constraint has a priority higher than the first predefined navigational constraint;
determine, based on the identified navigational state, a first navigational action for the autonomous vehicle satisfying both the first predefined navigational constraint and the second predefined navigational constraint where both the first predefined navigational constraint and the second predefined navigational constraint can be satisfied;
determine, based on the identified navigational state, a second navigational action for the autonomous vehicle satisfying the second predefined navigational constraint, but not satisfying the first predefined navigational constraint, where the first predefined navigational constraint and the second predefined navigational constraint cannot both be satisfied; and
cause at least one adjustment of a navigational actuator of the autonomous vehicle in response to the determined first navigational action or the determined second navigational action for the autonomous vehicle.
9. The autonomous vehicle of claim 8 , wherein determination of the second navigational action occurs in a trained navigational system.
10. The autonomous vehicle of claim 8 , wherein the first predefined navigational constraint includes a target vehicle envelope defining a first buffer zone within which navigation of the autonomous vehicle is prohibited, and wherein the second predefined navigational constraint includes a pedestrian envelope defining a second buffer zone within which navigation of the autonomous vehicle is prohibited.
11. The autonomous vehicle of claim 10 , wherein at least a portion of the first buffer zone extends a predetermined distance from a detected target vehicle.
12. The autonomous vehicle of claim 10 , wherein at least a portion of the second buffer zone extends a predetermined distance from a detected pedestrian.
13. The autonomous vehicle of claim 8 , wherein the first predefined navigational constraint includes at least one of a stationary object envelope, a road barrier buffer zone, a maximum speed of travel when passing within an influence zone of a detected pedestrian, or a maximum deceleration rate for the autonomous vehicle, and wherein the second predefined navigational constraint includes at least one of a target vehicle envelope or a pedestrian envelope.
14. The autonomous vehicle of claim 8 , wherein the navigational actuator includes at least one of a steering mechanism, a brake, or an accelerator.
15. A method of navigating an autonomous vehicle, the method comprising:
receiving, from a camera, a plurality of images representative of an environment of the autonomous vehicle;
analyzing the plurality of images to determine a navigational state associated with the autonomous vehicle, the navigational state being associated with sensed information associated with the environment of the host vehicle;
determining a first predefined navigational constraint and a second predefined navigational constraint implicated by the navigational state, wherein the first predefined navigational constraint differs from the second predefined navigational constraint, and wherein the second predefined navigational constraint has a priority higher than the first predefined navigational constraint;
determining, based on the identified navigational state, a first navigational action for the autonomous vehicle satisfying both the first predefined navigational constraint and the second predefined navigational constraint where both the first predefined navigational constraint and the second predefined navigational constraint can be satisfied;
determining, based on the identified navigational state, a second navigational action for the autonomous vehicle satisfying the second predefined navigational constraint, but not satisfying the first predefined navigational constraint, where the first predefined navigational constraint and the second predefined navigational constraint cannot both be satisfied; and
causing at least one adjustment of a navigational actuator of the autonomous vehicle in response to the determined first navigational action or the determined second navigational action for the autonomous vehicle.