US 11,897,508 B2
Navigation with a safe lateral distance
Shai Shalev-Shwartz, Jerusalem (IL); Shaked Shammah, Jerusalem (IL); Amnon Shashua, Mevaseret Zion (IL); Barak Cohen, Modiin (IL); and Zeev Adelman, Jerusalem (IL)
Assigned to Mobileye Vision Technologies Ltd., Jersualem (IL)
Filed by Mobileye Vision Technologies Ltd., Jerusalem (IL)
Filed on Feb. 12, 2021, as Appl. No. 17/174,844.
Application 17/174,844 is a continuation of application No. PCT/IB2019/000726, filed on Aug. 14, 2019.
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.
Prior Publication US 2021/0191406 A1, Jun. 24, 2021
Int. Cl. B60W 60/00 (2020.01); B60W 30/18 (2012.01); B60W 40/02 (2006.01); B60W 40/105 (2012.01); B60W 40/107 (2012.01); G06T 7/70 (2017.01); B60W 30/09 (2012.01); G05D 1/02 (2020.01); G06T 7/20 (2017.01); B60W 30/095 (2012.01); G06V 20/58 (2022.01); G06V 40/10 (2022.01)
CPC B60W 60/0016 (2020.02) [B60W 30/09 (2013.01); B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 30/181 (2013.01); B60W 30/18163 (2013.01); B60W 40/02 (2013.01); B60W 40/105 (2013.01); B60W 40/107 (2013.01); B60W 60/0015 (2020.02); G05D 1/0214 (2013.01); G05D 1/0231 (2013.01); G05D 1/0246 (2013.01); G06T 7/20 (2013.01); G06T 7/70 (2017.01); G06V 20/58 (2022.01); G06V 20/584 (2022.01); G06V 40/10 (2022.01); B60W 2420/42 (2013.01); B60W 2420/52 (2013.01); B60W 2510/18 (2013.01); B60W 2520/105 (2013.01); B60W 2520/12 (2013.01); B60W 2520/125 (2013.01); B60W 2520/14 (2013.01); B60W 2530/201 (2020.02); B60W 2552/45 (2020.02); B60W 2554/4029 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/80 (2020.02); B60W 2554/801 (2020.02); B60W 2555/60 (2020.02); B60W 2720/10 (2013.01); G05D 2201/0213 (2013.01); G06T 2207/30196 (2013.01); G06T 2207/30261 (2013.01); G06V 2201/07 (2022.01)] 30 Claims
OG exemplary drawing
 
1. A method for navigating a host vehicle, the method comprising: receiving, from an image capture device, at least one image representative of an environment of the host vehicle;
determining, based on at least one driving policy, a planned navigational action for accomplishing a navigational goal of the host vehicle;
analyzing the at least one image to identify a target vehicle in the environment of the host vehicle;
determining a next-state lateral distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken;
determining a maximum yaw rate capability of the host vehicle, a maximum change in turn radius capability of the host vehicle, and a current lateral speed of the host vehicle;
determining a lateral braking distance for the host vehicle based on the maximum yaw rate capability of the host vehicle, the maximum change in turn radius capability of the host vehicle, and the current lateral speed of the host vehicle;
determining a current lateral speed of the target vehicle, a target vehicle maximum yaw rate capability, and a target vehicle maximum change in turn radius capability;
determining a lateral braking distance for the target vehicle based on the current lateral speed of the target vehicle, the target vehicle maximum yaw rate capability, and the target vehicle maximum change in turn radius capability;
determining that the next-state lateral distance is greater than a sum of the lateral braking distance for the host vehicle and the lateral braking distance of the target vehicle; and
implementing the planned navigational action when the determined next-state lateral distance is greater than the sum of the lateral braking distance for the host vehicle and the lateral braking distance of the target vehicle.