US 12,441,353 B2
Free space mapping and navigation
Daniel Braunstein, Tzur Hadassah (IL); Ishay Levi, Jerusalem (IL); Kfir Viente, Ramat Gan (IL); David Huberman, Jerusalem (IL); and Matan Argaman, Jerusalem (IL)
Assigned to MOBILEYE VISION TECHNOLOGIES LTD., Jerusalem (IL)
Filed by MOBILEYE VISION TECHNOLOGIES LTD., Jerusalem (IL)
Filed on Nov. 12, 2020, as Appl. No. 17/096,053.
Application 17/096,053 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 2021/0061304 A1, Mar. 4, 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 21/00 (2006.01); G01C 21/30 (2006.01); G01C 21/34 (2006.01); G01C 21/36 (2006.01); G05D 1/00 (2024.01); G05D 1/248 (2024.01); G05D 1/249 (2024.01); G05D 1/617 (2024.01); G05D 1/692 (2024.01); G05D 1/81 (2024.01); G06N 3/08 (2023.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01); G08G 1/00 (2006.01); G08G 1/01 (2006.01); G08G 1/07 (2006.01); G08G 1/14 (2006.01); 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); G05D 1/248 (2024.01); G05D 1/249 (2024.01); G05D 1/617 (2024.01); G05D 1/692 (2024.01); G05D 1/81 (2024.01); G06N 3/08 (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 2420/403 (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); G07C 5/0808 (2013.01)] 39 Claims
OG exemplary drawing
 
1. A system for mapping road segment free spaces for use in autonomous vehicle navigation, the system comprising:
at least one processor programmed to:
receive from a first vehicle, one or more location identifiers detected by the first vehicle as the first vehicle navigates along a road segment according to a target trajectory, the one or more location identifiers being associated with a lateral region of free space adjacent to and intersecting with the road segment, wherein each of the one or more location identifiers associated with the lateral region of free space adjacent to and intersecting with the road segment includes coordinates that are relative to the target trajectory according to which the vehicle navigates;
update an autonomous vehicle road navigation model for the road segment to include a mapped representation of the lateral region of free space adjacent to and intersecting with the road segment based on the one or more location identifiers, wherein the autonomous vehicle road navigation model for the road segment includes the target trajectory; and
distribute the updated autonomous vehicle road navigation model to a plurality of autonomous vehicles, at least one of the autonomous vehicles being configured to autonomously navigate along the target trajectory based on the mapped representation of the lateral region of free space adjacent to and intersecting with the road segment included in the updated autonomous vehicle road navigation model, the autonomous navigation including causing implementation of a navigational action to avoid a potential collision based on a determination that the lateral region of free space adjacent to and intersecting with the road segment has a size sufficient to allow a pedestrian or a vehicle to enter the road segment.