US 11,698,263 B2
Safety and comfort constraints for navigation
Amnon Shashua, Mevasseret Zion (IL); Shai Shalev-Shwartz, Jerusalem (IL); and Shaked Shammah, Jerusalem (IL)
Assigned to MOBILEYE VISION TECHNOLOGIES LTD., Jerusalem (IL)
Filed by Mobileye Vision Technologies Ltd., Jerusalem (IL)
Filed on Jun. 26, 2020, as Appl. No. 16/913,976.
Application 16/913,976 is a continuation of application No. 16/694,517, filed on Nov. 25, 2019, granted, now 11,561,542.
Application 16/694,517 is a continuation of application No. PCT/IB2018/000808, filed on Jun. 14, 2018.
Claims priority of provisional application 62/519,471, filed on Jun. 14, 2017.
Claims priority of provisional application 62/519,493, filed on Jun. 14, 2017.
Prior Publication US 2020/0333784 A1, Oct. 22, 2020
Int. Cl. G01C 22/00 (2006.01); G05D 1/00 (2006.01); G01C 21/36 (2006.01); G01C 21/30 (2006.01); G05D 1/02 (2020.01); G06V 20/56 (2022.01); G06F 18/25 (2023.01)
CPC G01C 21/3602 (2013.01) [G01C 21/30 (2013.01); G05D 1/0088 (2013.01); G05D 1/0246 (2013.01); G05D 1/0276 (2013.01); G06F 18/251 (2023.01); G06V 20/56 (2022.01); G06V 20/588 (2022.01); G05D 2201/0212 (2013.01); G05D 2201/0213 (2013.01)] 29 Claims
OG exemplary drawing
 
1. An apparatus for a host vehicle, the apparatus comprising:
a memory device to store an optical image obtained from an image sensor associated with the host vehicle and information from a lidar or radar signal obtained from a lidar or radar system associated with the host vehicle, wherein the image sensor and the lidar or radar system are onboard the host vehicle, and are in different physical locations on the host vehicle; and
at least one processing device programmed to:
receive the optical image and the information from the lidar or radar signal;
generate an identification of a target object from objects captured in the optical image;
determine whether a characteristic of the target object triggers at least one navigational constraint by:
verifying the identification of the target object and comparing the identification of the target object to the at least one navigational constraint based on information from the optical image; and
if the at least one navigational constraint is not triggered based on the information from the optical image, then verifying the identification of the target object and comparing the identification of the target object to the at least one navigational constraint based on a fusion of the information from the optical image and the information from the lidar or radar signal; and
in response to determining that the characteristic of the target object triggers the at least one navigational constraint, cause at least one navigational change to the host vehicle.