US 11,983,894 B2
Determining road location of a target vehicle based on tracked trajectory
Gideon Stein, Jerusalem (IL)
Assigned to Mobileye Vision Technologies Ltd., Jerusalem (IL)
Filed by Mobileye Vision Technologies Ltd., Jerusalem (IL)
Filed on Mar. 28, 2023, as Appl. No. 18/127,533.
Application 18/127,533 is a continuation of application No. 17/670,085, filed on Feb. 11, 2022, granted, now 11,741,627.
Application 17/670,085 is a continuation of application No. 17/124,426, filed on Dec. 16, 2020, granted, now 11,263,771, issued on Mar. 1, 2022.
Application 17/124,426 is a continuation of application No. 16/520,295, filed on Jul. 23, 2019, granted, now 11,263,770, issued on Mar. 1, 2022.
Application 16/520,295 is a continuation of application No. PCT/US2019/025573, filed on Apr. 3, 2019.
Claims priority of provisional application 62/652,039, filed on Apr. 3, 2018.
Claims priority of provisional application 62/652,029, filed on Apr. 3, 2018.
Prior Publication US 2023/0237689 A1, Jul. 27, 2023
Int. Cl. G06T 7/70 (2017.01); G01C 21/00 (2006.01); G01C 21/16 (2006.01); G01C 21/32 (2006.01); G01C 21/36 (2006.01); G05D 1/00 (2006.01); G06V 10/772 (2022.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01); G08G 1/16 (2006.01)
CPC G06T 7/70 (2017.01) [G01C 21/005 (2013.01); G01C 21/16 (2013.01); G01C 21/32 (2013.01); G01C 21/3658 (2013.01); G01C 21/3837 (2020.08); G01C 21/3844 (2020.08); G05D 1/0246 (2013.01); G06V 10/772 (2022.01); G06V 20/584 (2022.01); G06V 20/588 (2022.01); G08G 1/167 (2013.01); G05D 2201/0213 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30261 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for navigating a host vehicle, the system comprising;
at least one processing device comprising circuitry and a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processor to:
receive a plurality of images captured by an image capture device over a time period, the plurality of images being representative of an environment of the host vehicle;
analyze at least one of the plurality of images to identify a target vehicle in the environment of the host vehicle;
receive map information associated with the environment of the host vehicle, the map information including a plurality of target trajectories, wherein the plurality of target trajectories includes at least a first trajectory associated with a first lane of travel along a road segment and a second trajectory associated with a second lane of travel along the road segment;
determine, based on analysis of the plurality of images, a first estimated position of the target vehicle at a first time and a second estimated position of the target vehicle at a second time, the first time and the second time being within the time period;
determine, based on the first estimated position and the second estimated position, a trajectory of the target vehicle over the time period;
compare the determined trajectory to the plurality of target trajectories to identify a target trajectory of the plurality of target trajectories being traversed by the target vehicle, the target trajectory including either the first trajectory or the second trajectory;
determine, based on the identified target trajectory, a position of the target vehicle relative to a road in the environment of the host vehicle; and
determine a navigational action for the host vehicle based on the determined position of the target vehicle.