Safety and comfort constraints for navigation
A navigational system for a host vehicle may comprise at least one processing device. The processing device may be programmed to receive a first output and a second output associated with a host vehicle, wherein at least one of the outputs is received from a sensor onboard the host vehicle. The processing device may identify a target object in the first output and determine whether a characteristic of the target object triggers a navigational constraint by verifying the identification of the target object based on the first output; and, if the navigational constraint is not verified based on the first output, then verifying the identification of the target object based on a combination of the first output and the second output. In response to the verification, the processing device may cause at least one navigational change to the host vehicle.
1. An apparatus for a host vehicle, the apparatus comprising:
at least one processing device programmed to:
receive a first output from a first data source associated with the host vehicle and a second output from a second data source associated with the host vehicle, wherein at least one of the first data source and the second data source comprise a sensor onboard the host vehicle;
identify a target object in the first output;
determine whether a characteristic of the target object triggers at least one navigational constraint by:
verifying the identification of the target object based on the first output; and
if the at least one navigational constraint is not verified based on the first output, then verifying the identification of the target object based on a combination of the first output and the second output; and
in response to the verification, cause at least one navigational change to the host vehicle.
2. The apparatus of claim 1 , wherein the verifying comprises confirming that a potential target object is the target object using a threshold or confidence level.
3. The apparatus of claim 1 , wherein the at least one navigational change includes slowing the host vehicle.
4. The apparatus of claim 1 , wherein the at least one navigational change includes accelerating the host vehicle.
5. The apparatus of claim 1 , wherein the at least one navigational change includes activating a steering mechanism of the host vehicle.
6. The apparatus of claim 1 , wherein the first data source comprises at least one of a camera, a lidar, or a radar onboard the host vehicle.
7. The apparatus of claim 1 , wherein the second data source comprises map data accessed by the at least one processing device.
8. The apparatus of claim 1 , wherein verifying the identification of the target object based on the combination of the first output and the second output comprises determining whether the target object is identified in both the first output and the second output.
9. The apparatus of claim 1 , wherein verifying the identification of the target object based on the combination of the first output and the second output comprises determining the characteristic of the target object using a projection of the second output projected onto the first output.
10. The apparatus of claim 9 , wherein the second output comprises map data, the first output comprises at least one image of an environment of the host vehicle, and the projection comprises detecting one or more road edges in the at least one image using the map data.
11. The apparatus of claim 9 , wherein the second output comprises output from a lidar, the first output comprises at least one image of an environment of the host vehicle, and the projection comprises detecting free space in the at least one image using the second output.
12. The apparatus of claim 1 , wherein the characteristic of the target object includes a size of the target object.
13. The apparatus of claim 1 , wherein the characteristic of the target object includes a distance from the host vehicle to the target object.
14. The apparatus of claim 1 , wherein the target object can be specified by a representation and the representation is a polynomial representation of the target object or a compressed data set of the target object.
15. A computer-implemented method for a host vehicle, the method comprising:
receiving a first output from a first data source associated with the host vehicle and a second output from a second data source associated with the host vehicle, wherein at least one of the first data source and the second data source comprise a sensor onboard the host vehicle;
identifying a target object in the first output;
determining whether a characteristic of the target object triggers at least one navigational constraint by:
verifying the identification of the target object based on a combination of the first output; and
if the at least one navigational constraint is not verified based on the first output, then verifying the identification of the target object based on a combination of the first output and the second output; and
in response to the verification, cause at least one navigational change to the host vehicle.
16. The method of claim 15 , wherein the at least one navigational change includes at least one of slowing the host vehicle, accelerating the host vehicle, or activating a steering mechanism of the host vehicle.
17. The method of claim 15 , wherein the first data source comprises at least one of a camera, a lidar, or a radar onboard the host vehicle.
18. The method of claim 15 , wherein the second data source comprises map data accessed by the computer.
19. The method of claim 15 , wherein verifying the identification of the target object based on the combination of the first output and the second output comprises determining whether the target object is identified in both the first output and the second output.
20. The method of claim 15 , wherein verifying the identification of the target object based on the combination of the first output and the second output comprises determining the characteristic of the target object using the second output projected onto the first output.
21. The method of claim 15 , wherein the verifying comprises confirming that a potential target object is the target object using a threshold or confidence level.
22. A non-transitory, computer-readable medium storing instructions that, when executed by at least one processing device, cause at least one processing device to:
receive a first output from a first data source associated with a host vehicle and a second output from a second data source associated with the host vehicle, wherein at least one of the first data source and the second data source comprise a sensor onboard the host vehicle;
identify a target object in the first output;
determine whether a characteristic of the target object triggers at least one navigational constraint;
verify the identification of the representation of the target object based on the first output;
if the at least one navigational constraint is not triggered by the characteristic of the target object, verify the identification of the target object based on a combination of the first output and the second output; and
in response to the verification, cause at least one navigational change to the host vehicle.
23. The medium of claim 22 , wherein the verifying comprises confirming that a potential target object is the target object using a threshold or confidence level.
24. An apparatus for a host vehicle, the apparatus comprising:
at least one processor means that includes an input means, an identifying means, a determining means, a verifying means, and an output means, the processor means programmed to:
cause the input means to receive a first output from a first data source associated with the host vehicle and a second output from a second data source associated with the host vehicle, wherein at least one of the first data source and the second data source comprise a sensor onboard the host vehicle;
cause the identifying means to identify a target object in the first output;
cause the determining means to determine whether a characteristic of the target object triggers at least one navigational constraint by:
causing the verifying means to verify the identification of the target object based on the first output; and
if the at least one navigational constraint is not verified based on the first output, then verifying the identification of the target object based on a combination of the first output and the second output; and
in response to the verification, cause the output means to output a signal that initiates at least one navigational change to the host vehicle.
25. The apparatus of claim 24 , wherein the verifying means confirms that a potential target object is the target object using a threshold or confidence level.
26. The apparatus of claim 24 , wherein the at least one navigational change includes slowing the host vehicle, accelerating the host vehicle, or activating a steering mechanism of the host vehicle.
27. The apparatus of claim 24 , wherein the first data source comprises at least one of a camera, a lidar, or a radar onboard the host vehicle.
28. The apparatus of claim 24 , wherein verifying the identification of the target object based on the combination of the first output and the second output comprises determining whether the target object is identified in both the first output and the second output.
29. The apparatus of claim 24 , wherein the characteristic of the target object includes a size of the target object, a distance from the host vehicle to the target object, or a location of the target object in an environment of the host vehicle.
30. The apparatus of claim 24 , wherein the target object can be specified by a representation and the representation is a polynomial representation of the target object or a compressed data set of the target object.