US 11,731,617 B2
Systems and methods for navigating a vehicle
Shai Shalev-Shwartz, Jerusalem (IL); Shaked Shammah, Jerusalem (IL); Amnon Shashua, Mevaseret Zion (IL); Barak Cohen, Modiin (IL); Zeev Adelman, Jerusalem (IL); and Oded Berberian, Jerusalem (IL)
Assigned to Mobileye Vision Technologies Ltd., Jerusalem (IL)
Filed by Mobileye Vision Technologies Ltd., Jerusalem (IL)
Filed on Nov. 30, 2020, as Appl. No. 17/106,700.
Application 17/106,700 is a continuation of application No. 16/359,488, filed on Mar. 20, 2019, granted, now 11,077,845.
Claims priority of provisional application 62/777,914, filed on Dec. 11, 2018.
Claims priority of provisional application 62/772,366, filed on Nov. 28, 2018.
Claims priority of provisional application 62/724,355, filed on Aug. 29, 2018.
Claims priority of provisional application 62/718,554, filed on Aug. 14, 2018.
Claims priority of provisional application 62/646,579, filed on Mar. 22, 2018.
Claims priority of provisional application 62/645,479, filed on Mar. 20, 2018.
Prior Publication US 2021/0162993 A1, Jun. 3, 2021
Int. Cl. B60W 30/09 (2012.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 40/06 (2012.01); B60W 40/105 (2012.01); B60W 50/08 (2020.01); B60W 30/18 (2012.01); B60W 30/095 (2012.01); B60W 50/12 (2012.01); B60W 10/06 (2006.01); B60W 30/165 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 10/06 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 30/165 (2013.01); B60W 30/18154 (2013.01); B60W 30/18163 (2013.01); B60W 40/06 (2013.01); B60W 40/105 (2013.01); B60W 50/087 (2013.01); B60W 50/12 (2013.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2510/18 (2013.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01); B60W 2552/00 (2020.02); B60W 2554/00 (2020.02); B60W 2554/80 (2020.02); B60W 2555/20 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B60W 2754/30 (2020.02)] 18 Claims
OG exemplary drawing
 
1. An automated driving system for a host vehicle, the system comprising:
an interface to obtain sensing data of an environment in a vicinity of the host vehicle, the sensing data captured from at least one sensor device of the host vehicle; and
at least one processing device configured to:
determine a planned navigational action for accomplishing a navigational goal of the host vehicle;
identify, from the sensing data, a target vehicle in the environment of the host vehicle;
predict a following distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;
identify a defined braking capability of the host vehicle, a defined acceleration capability of the host vehicle, and a longitudinal speed of the host vehicle;
determine a host vehicle braking distance based on an evaluation of: (i) the defined braking capability of the host vehicle, (ii) the defined acceleration capability of the host vehicle, and (iii) the longitudinal speed of the host vehicle, wherein the defined braking capability of the host vehicle comprises a minimum braking rate that is less than a maximum braking rate of the host vehicle, wherein the minimum braking rate is identified to be applied by the host vehicle as at least an initial braking force used to decelerate within the host vehicle braking distance, and wherein the minimum braking rate is identified to be applied by the host vehicle as a lower limit of an amount of braking force used to decelerate throughout the host vehicle braking distance;
determine a target vehicle braking distance, based on an evaluation of: (i) a longitudinal speed of the target vehicle and (ii) a maximum braking capability of the target vehicle; and
cause the host vehicle to implement the planned navigational action when the predicted following distance of the planned navigational action is greater than a minimum safe longitudinal distance, wherein the minimum safe longitudinal distance is calculated based on the determined host vehicle braking distance and the determined target vehicle braking distance.