US 11,772,680 B2
Mapping lane marks and navigation based on mapped lane marks
Dori Shapira, Galon (IL); Kfir Viente, Ramat Gan (IL); Daniel Braunstein, Tzur Hadassah (IL); Bnaya Caspi, Jerusalem (IL); and Iddo Hanniel, Modiin (IL)
Assigned to MOBILEYE VISION TECHNOLOGIES LTD., Jerusalem (IL)
Filed by Mobileye Vision Technologies Ltd., Jerusalem (IL)
Filed on Dec. 18, 2020, as Appl. No. 17/126,734.
Application 17/126,734 is a continuation of application No. 17/096,279, filed on Nov. 12, 2020.
Application 17/096,279 is a continuation of application No. PCT/US2019/032429, filed on May 15, 2019.
Claims priority of provisional application 62/805,646, filed on Feb. 14, 2019.
Claims priority of provisional application 62/800,845, filed on Feb. 4, 2019.
Claims priority of provisional application 62/797,639, filed on Jan. 28, 2019.
Claims priority of provisional application 62/771,335, filed on Nov. 26, 2018.
Claims priority of provisional application 62/671,779, filed on May 15, 2018.
Prior Publication US 2021/0103287 A1, Apr. 8, 2021
Int. Cl. B60W 60/00 (2020.01); B60T 7/12 (2006.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 30/12 (2020.01); B60W 30/18 (2012.01); B62D 6/00 (2006.01); G01C 21/34 (2006.01); G01C 21/36 (2006.01); G01C 21/00 (2006.01); G08G 1/14 (2006.01); G08G 1/00 (2006.01); G05D 1/02 (2020.01); G01C 21/30 (2006.01); G05D 1/00 (2006.01); G08G 1/01 (2006.01); G08G 1/07 (2006.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01); G07C 5/08 (2006.01)
CPC B60W 60/001 (2020.02) [B60T 7/12 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 30/12 (2013.01); B60W 30/18072 (2013.01); B60W 30/18109 (2013.01); B62D 6/001 (2013.01); G01C 21/30 (2013.01); G01C 21/3407 (2013.01); G01C 21/3626 (2013.01); G01C 21/3691 (2013.01); G01C 21/3815 (2020.08); G01C 21/3848 (2020.08); G01C 21/3885 (2020.08); G05D 1/0088 (2013.01); G05D 1/0214 (2013.01); G05D 1/0221 (2013.01); G05D 1/0246 (2013.01); G05D 1/0278 (2013.01); G05D 1/0287 (2013.01); G06V 20/56 (2022.01); G06V 20/584 (2022.01); G06V 20/588 (2022.01); G08G 1/0112 (2013.01); G08G 1/07 (2013.01); G08G 1/143 (2013.01); G08G 1/22 (2013.01); B60W 2300/123 (2013.01); B60W 2420/42 (2013.01); B60W 2520/06 (2013.01); B60W 2520/12 (2013.01); B60W 2552/05 (2020.02); B60W 2552/30 (2020.02); B60W 2552/45 (2020.02); B60W 2552/53 (2020.02); B60W 2554/60 (2020.02); B60W 2555/60 (2020.02); B60W 2556/40 (2020.02); B60W 2556/55 (2020.02); B60W 2556/65 (2020.02); G01C 21/38 (2020.08); G01C 21/3807 (2020.08); G01C 21/3841 (2020.08); G05D 2201/0213 (2013.01); G07C 5/0808 (2013.01)] 20 Claims
OG exemplary drawing
 
1. At least one non-transitory machine-readable storage medium comprising instructions, which when executed by processor circuitry of a computing device, cause the processor circuitry to perform operations to:
obtain images representative of an environment of a host vehicle, the host vehicle traveling on a roadway, and the images captured by a camera;
detect, from the images, a mark located on the roadway;
identify, from the images, points corresponding to the detected mark on the roadway;
identify, from the images, the detected mark as a type of roadway marking, corresponding to the identified points, the type of roadway marking selected from multiple types of roadway markings;
determine a position of the mark on the roadway relative to the host vehicle, using the identified points corresponding to the mark;
determine a trajectory to navigate the host vehicle on the roadway, based on the position of the mark within the roadway determined from the identified points and the type of roadway marking identified from the images; and
control a control system of the host vehicle to control at least one navigational maneuver by the host vehicle based on the determined trajectory.