US 12,221,110 B2
Systems and methods for navigating a vehicle among encroaching vehicles
Anna Clarke, Har Adar (IL); and Eyal Bagon, Jerusalem (IL)
Assigned to Mobileye Vision Technologies Ltd., Jerusalem (IL)
Filed by MOBILEYE VISION TECHNOLOGIES LTD., Jerusalem (IL)
Filed on Jun. 22, 2023, as Appl. No. 18/339,258.
Application 18/339,258 is a continuation of application No. 17/102,647, filed on Nov. 24, 2020, granted, now 11,713,042.
Application 17/102,647 is a continuation of application No. 16/393,846, filed on Apr. 24, 2019, granted, now 10,953,884, issued on Mar. 23, 2021.
Application 16/393,846 is a continuation of application No. 14/560,420, filed on Dec. 4, 2014, granted, now 10,293,826, issued on May 21, 2019.
Claims priority of provisional application 62/040,269, filed on Aug. 21, 2014.
Claims priority of provisional application 62/040,224, filed on Aug. 21, 2014.
Claims priority of provisional application 62/022,221, filed on Jul. 9, 2014.
Claims priority of provisional application 62/015,524, filed on Jun. 23, 2014.
Claims priority of provisional application 61/993,111, filed on May 14, 2014.
Claims priority of provisional application 61/993,084, filed on May 14, 2014.
Claims priority of provisional application 61/911,490, filed on Dec. 4, 2013.
Prior Publication US 2023/0415744 A1, Dec. 28, 2023
Int. Cl. B60W 30/18 (2012.01); B60K 31/00 (2006.01); B60T 7/12 (2006.01); B60T 7/22 (2006.01); B60T 8/32 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 30/00 (2006.01); B60W 30/08 (2012.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/12 (2020.01); B60W 30/14 (2006.01); B60W 30/165 (2020.01); B60W 40/06 (2012.01); B60W 40/072 (2012.01); B60W 40/076 (2012.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); B62D 15/02 (2006.01); G01C 11/04 (2006.01); G01C 21/10 (2006.01); G01C 21/26 (2006.01); G01C 21/30 (2006.01); G05D 1/00 (2024.01); G06T 7/00 (2017.01); G06T 7/285 (2017.01); G06T 7/292 (2017.01); G06T 7/70 (2017.01); G06V 20/56 (2022.01); G08G 1/0962 (2006.01); G08G 1/16 (2006.01); H04N 23/90 (2023.01); B60W 50/00 (2006.01); B62D 6/00 (2006.01); G01S 5/00 (2006.01); G08G 1/00 (2006.01); G08G 1/09 (2006.01); H04N 7/18 (2006.01)
CPC B60W 30/18163 (2013.01) [B60K 31/0066 (2013.01); B60T 7/12 (2013.01); B60T 7/22 (2013.01); B60T 8/32 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/00 (2013.01); B60W 30/08 (2013.01); B60W 30/09 (2013.01); B60W 30/0953 (2013.01); B60W 30/12 (2013.01); B60W 30/14 (2013.01); B60W 30/143 (2013.01); B60W 30/165 (2013.01); B60W 30/18154 (2013.01); B60W 40/06 (2013.01); B60W 40/072 (2013.01); B60W 40/076 (2013.01); B60W 50/14 (2013.01); B60W 60/0027 (2020.02); B62D 15/0265 (2013.01); G01C 11/04 (2013.01); G01C 21/10 (2013.01); G01C 21/26 (2013.01); G01C 21/30 (2013.01); G05D 1/0088 (2013.01); G05D 1/0246 (2013.01); G06T 7/285 (2017.01); G06T 7/292 (2017.01); G06T 7/70 (2017.01); G06T 7/97 (2017.01); G06V 20/588 (2022.01); G08G 1/09623 (2013.01); G08G 1/166 (2013.01); G08G 1/167 (2013.01); H04N 23/90 (2023.01); B60K 2031/0025 (2013.01); B60T 2201/022 (2013.01); B60T 2201/08 (2013.01); B60T 2210/34 (2013.01); B60W 2050/0075 (2013.01); B60W 2420/403 (2013.01); B60W 2510/0604 (2013.01); B60W 2510/18 (2013.01); B60W 2510/20 (2013.01); B60W 2520/14 (2013.01); B60W 2552/53 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02); B60W 2554/806 (2020.02); B60W 2556/10 (2020.02); B60W 2556/50 (2020.02); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01); B62D 6/00 (2013.01); B62D 15/0255 (2013.01); G01S 5/0027 (2013.01); G05D 1/0214 (2013.01); G05D 1/0253 (2013.01); G05D 1/0278 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/30256 (2013.01); G06T 2207/30261 (2013.01); G08G 1/09 (2013.01); G08G 1/22 (2013.01); H04N 7/18 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A driving system for a vehicle, the system comprising:
an interface to obtain sensing data of an environment in a vicinity of the vehicle, the sensing data captured from at least one sensor device of the vehicle; and
at least one processing device configured to:
determine, from the sensing data, a first lane boundary and a second lane boundary of a lane of a road during navigation of the vehicle in a longitudinal direction of the lane, the first lane boundary on a first lateral side of the vehicle and the second lane boundary on a second lateral side of the vehicle opposite to the first lateral side of the vehicle;
determine, based on the sensing data, that an encroaching vehicle is approaching from a lateral side of the vehicle;
determine a predicted position of the encroaching vehicle based on at least a lateral speed of the encroaching vehicle;
determine, based on the predicted position of the encroaching vehicle, that the vehicle can bypass the encroaching vehicle while staying in the lane before a lateral distance between the vehicle and the encroaching vehicle becomes less than a minimum safe lateral distance; and
cause the vehicle to maintain the lateral distance between the vehicle and the encroaching vehicle and bypass the encroaching vehicle while staying in the lane, wherein the lateral distance is maintained until the vehicle moves into a position that is longitudinally ahead of the encroaching vehicle.