Navigation by augmented path prediction
A navigation system may include at least one processor programmed to receive, from a camera, one or more images representative of an environment of a host vehicle; receive a first directional indicator representative of a first target trajectory direction for the host vehicle; and receive a first distance estimate associated with the first target trajectory direction. The processor may analyze the one or more images in view of the received first directional indicator and the received first distance estimate to identify in the one or more images a representation of a first road segment consistent with the first target trajectory direction and the first distance estimate; and generate a planned trajectory for the host vehicle, based at least in part on the first target trajectory direction and the first distance estimate. The planned trajectory may be made to extend along at least a portion of the first road segment. The processor may cause at least one adjustment of a navigational actuator of the host vehicle to cause the host vehicle to navigate relative to the planned trajectory.
1. A navigation system for a host vehicle, the navigation system comprising: at least one processor programmed to:
receive, from a camera, one or more images representative of an environment of the host vehicle;
receive a first directional indicator representative of a first target trajectory direction for the host vehicle, wherein the first target trajectory direction is different from a current direction of travel of the host vehicle;
receive a first distance estimate associated with the first target trajectory direction;
analyze the one or more images in view of the received first directional indicator and the received first distance estimate to identify in the one or more images a representation of a first road segment consistent with the first target trajectory direction and the first distance estimate;
generate a planned trajectory for the host vehicle, based at least in part on the first target trajectory direction and the first distance estimate, wherein the planned trajectory is made to extend along at least a portion of the first road segment; and
cause at least one adjustment of a navigational actuator of the host vehicle to cause the host vehicle to navigate relative to the planned trajectory.
2. The navigation system of claim 1 , wherein the first distance estimate extends from a current position of the host vehicle to an intended onset of the first target trajectory direction.
3. The navigation system of claim 1 , wherein the first distance estimate corresponds to a first target distance over which the host vehicle is intended to navigate with respect to the first target trajectory direction.
4. The navigation system of claim 1 , wherein an actual distance along the planned trajectory between the current position of the host vehicle and an actual onset of the first target directory direction differs from the first distance estimate by up to 50% of the first distance estimate.
5. The navigation system of claim 1 , wherein an actual distance along the planned trajectory between the current position of the host vehicle and an actual onset of the first target directory direction differs from the first distance estimate by up to 100% of the first distance estimate.
6. The navigation system of claim 1 , wherein the first road segment includes at least a portion of an entrance to a traffic circle.
7. The navigation system of claim 1 , wherein the first road segment includes at least a portion of a crossing road that intersects with a road on which the host vehicle is traveling.
8. The navigation system of claim 7 , wherein the crossing road intersects with the road on which the host vehicle is traveling at an angle other than about 90 degrees.
9. The navigation system of claim 1 , wherein the first road segment includes a curved road segment ahead of the host vehicle and on a road on which the host vehicle is traveling.
10. The navigation system of claim 1 , wherein the first road segment includes at least a portion of an exit lane departing from a road on which the host vehicle is traveling.
11. The navigation system of claim 1 , wherein the first directional indicator includes at least one of an angular measurement, a spatially oriented line segment, or a vector direction.
12. The navigation system of claim 1 , wherein the at least one processor is programmed to:
receive a second directional indicator representative of a second target trajectory direction for the host vehicle; and
receive a second distance estimate associated with the second target trajectory direction; wherein the analysis of the one or more images is also performed in view of the second directional indicator and the received second distance estimate to identify in the one or more images a representation of a second road segment consistent with the second target trajectory direction and the second distance estimate; and
wherein the generation of the planned trajectory for the host vehicle is also based, at least in part, on the second target trajectory direction and the second distance estimate, and wherein the planned trajectory is made to extend along at least a portion of the second road segment.
13. The navigation system of claim 12 , wherein the second road segment is located closer to the host vehicle than the first road segment.
14. The navigation system of claim 12 , wherein the second road segment is located farther from the host vehicle than the first road segment.
15. The navigation system of claim 12 , wherein the second distance estimate extends from a current position of the host vehicle to an intended onset of the second target trajectory direction.
16. The navigation system of claim 12 , wherein the second distance estimate corresponds to a second target distance over which the host vehicle is intended to navigate with respect to the second target trajectory direction.
17. The navigation system of claim 12 , wherein the second directional indicator includes at least one of an angular measurement a spatially oriented line segment, or a vector direction.
18. The navigation system of claim 12 , wherein the at least one processor is programmed to:
receive a third directional indicator representative of a third target trajectory direction for the host vehicle; and
receive a third distance estimate associated with the third target trajectory direction;
wherein the analysis of the one or more images is also performed in view of the third directional indicator and the received third distance estimate to identify in the one or more images a representation of a third road segment consistent with the third target trajectory direction and the third distance estimate; and
wherein the generation of the planned trajectory for the host vehicle is also based, at least in part, on the third target trajectory direction and the third distance estimate, and wherein the planned trajectory is made to extend along at least a portion of the third road segment.
19. The navigation system of claim 18 , wherein the third road segment is located closer to the host vehicle than either the first road segment or the second road segment.
20. The navigation system of claim 18 , wherein the third road segment is located farther from the host vehicle than either the first road segment or the second road segment.
21. The navigation system of claim 18 , wherein the third distance estimate extends from a current position of the host vehicle to an intended onset of the third target trajectory direction.
22. The navigation system of claim 18 , wherein the third distance estimate corresponds to a third target distance over which the host vehicle is intended to navigate with respect to the third target trajectory direction.
23. The navigation system of claim 18 , wherein the third directional indicator includes at least one of an angular measurement, a spatially oriented line segment, or a vector direction.
24. The navigation system of claim 18 , wherein the planned trajectory is generated by a trained neural network implemented by the at least one processor.
25. The navigation system of claim 24 , wherein the trained neural network is trained based on a plurality of images of road segments and actual drive data accumulated for the road segments.
26. The navigation system of claim 1 , wherein the at least one processor is programmed to receive an indicator of a current speed of the host vehicle; wherein the analysis of the one or more images is further performed in view of the indicator of the current speed of the host vehicle such that the identification in the one or more images of a representation of the first road segment is further consistent with the indicator of the current speed of the host vehicle; and wherein the generation of the planned trajectory for the host vehicle is further based on the current speed of the host vehicle.
27. The navigation system of claim 1 , wherein the at least one processor is programmed to receive an indicator of a current acceleration of the host vehicle; wherein the analysis of the one or more images is further performed in view of the indicator of the current acceleration of the host vehicle such that the identification in the one or more images of a representation of the first road segment is further consistent with the indicator of the current acceleration of the host vehicle; and wherein the generation of the planned trajectory for the host vehicle is further based on the current acceleration of the host vehicle.
28. The navigation system of claim 1 , wherein the first directional indicator is derived from at least one of an output of a route planner, an output of an automated navigational program, an output of a user control, and stored map information.
29. A navigation system for a host vehicle, the navigation system comprising:
at least one processor programmed to:
receive, from a camera, one or more images representative of an environment of the host vehicle;
receive a representation of a three-dimensional spline defining a target trajectory for the host vehicle:
analyze the one or more images in view of the received representation of the three-dimensional spline to determine whether the target trajectory defined by the three-dimensional spline is consistent with road segments identified based on the analysis of the one or more images, wherein the road segments are identified based on a directional indicator representative of a target trajectory direction for the host vehicle;
if the target trajectory is consistent with the identified road segments, cause at least one adjustment of a navigational actuator of the host vehicle to cause the host vehicle to navigate relative to the target trajectory; and
if the target trajectory is not consistent with the identified road segments, generate a planned trajectory for the host vehicle, based at least in part on the target trajectory, wherein the planned trajectory is made to extend along at least a some of the identified road segments and cause at least one adjustment of a navigational actuator of the host vehicle to cause the host vehicle to navigate relative to the planned trajectory.