公开(公告)号：US11077845B2

公开(公告)日：2021-08-03

申请号：US16359488

申请日：2019-03-20

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Shai Shalev-Shwartz ,  Shaked Shammah ,  Amnon Shashua ,  Barak Cohen ,  Zeev Adelman ,  Oded Berberian

IPC: B60W30/09 ,  B60W10/18 ,  B60W10/20 ,  B60W40/06 ,  B60W40/105 ,  B60W50/08 ,  B60W30/18 ,  B60W30/095 ,  B60W50/12 ,  B60W10/06 ,  B60W30/165

Abstract: A system for navigating a host vehicle may receive an image representative of an environment of the host vehicle and determine a planned navigational action for accomplishing a navigational goal of the host vehicle. The system may identify a target vehicle, determine a current speed of the target vehicle, and assume a maximum braking rate capability of the target vehicle. The system may determine a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken. The system may implement the planned navigational action if the host vehicle may be stopped using a predetermined sub-maximal braking rate within a distance that is less than the determined next-state distance summed together with a target vehicle travel distance determined based on the current speed of the target vehicle and the maximum braking rate capability of the target vehicle.

公开(公告)号：US20210176432A1

公开(公告)日：2021-06-10

申请号：US17111983

申请日：2020-12-04

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein ,  Amnon Shashua

IPC: H04N7/18 ,  B60W40/076 ,  G06K9/46 ,  G06K9/00

Abstract: Various driver assistance systems mountable in a host vehicle and computerized methods for detecting a vertical deviation of a road surface. The driver assistance system includes a camera operatively connectible to a processor. Multiple consecutive image frames are captured from the camera including a first image of the road and a second image of the road. Based on the host vehicle motion, the second image is warped toward the first image to produce thereby a warped second image. Image points of the road in the first image and corresponding image points of the road in the warped second image are tracked. Optical flow is computed between the warped second image to the first image. The optical flow is compared with an optical flow based on a road surface model to produce a residual optical flow. The vertical deviation is computed from the residual optical flow.

公开(公告)号：US20210166325A1

公开(公告)日：2021-06-03

申请号：US17106693

申请日：2020-11-30

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Shai Shalev-Shwartz ,  Amnon Shashua ,  Shaked Shammah

IPC: G06Q40/08 ,  B60W10/04 ,  G05D1/00 ,  G07C5/02 ,  B60W30/095 ,  B60W30/09 ,  B60W10/20 ,  B60W30/18 ,  B60W10/18 ,  G08G1/16 ,  G05D1/02 ,  G01C21/34 ,  G07C5/08 ,  G01C21/36 ,  G06Q10/00

Abstract: Systems and methods are provided for vehicle navigation. In one implementation, a system may comprise an interface to obtain sensing data of an environment of the host vehicle. A processing device may be configured to determine a planned navigational action for the host vehicle; identify, from the sensing data, a target vehicle in the environment of the host vehicle; predict a distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determine a host vehicle braking distance based on a braking capability, acceleration capability, and speed of the host vehicle; determine a target vehicle braking distance, based on a speed and braking capability of the target vehicle; and implement the planned navigational action when the predicted distance of the planned navigational action is greater than a safe longitudinal distance being calculated based on the host vehicle and target vehicle braking distances.

公开(公告)号：US20210094577A1

公开(公告)日：2021-04-01

申请号：US17106746

申请日：2020-11-30

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Shai Shalev-Shwartz ,  Shaked Shammah ,  Amnon Shashua ,  Barak Cohen ,  Zeev Adelman

IPC: B60W60/00 ,  B60W30/18 ,  B60W40/105 ,  B60W40/107 ,  B60W40/02

Abstract: Systems and methods are provided for vehicle navigation. In one implementation, a system may comprise an interface to obtain sensing data of an environment of the host vehicle. A processing device may be configured to determine a planned navigational action for the host vehicle; identify a target vehicle in the environment of the host vehicle; predict a resulting distance between the host and target vehicles if the planned action were taken; determine a host vehicle stopping distance based on a braking rate, maximum acceleration capability, and current speed of the host vehicle; determine a target vehicle stopping distance based on a braking rate and current speed of the target vehicle; and continue with the planned navigational action while the predicted distance is greater than a minimum safe longitudinal distance calculated based on the host vehicle stopping distance and the target vehicle stopping distance.

公开(公告)号：US10937107B2

公开(公告)日：2021-03-02

申请号：US16425647

申请日：2019-05-29

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Shai Shalev-Shwartz ,  Amnon Shashua ,  Shaked Shammah

IPC: G08G1/16 ,  G06F17/00 ,  G06Q40/08 ,  B60W10/18 ,  B60W30/09 ,  G05D1/00 ,  G07C5/02 ,  G07C5/08 ,  B60W30/095 ,  G05D1/02 ,  B60W10/04 ,  B60W10/20 ,  B60W30/18 ,  G01C21/36 ,  G01C21/34 ,  G06Q10/00

Abstract: A navigation system includes a processing device programmed to receive, from an image capture device, at least one image of an environment of the host vehicle; determine, based on at least one driving policy, a navigational action for accomplishing a navigational goal of the host vehicle; analyze the at least one image to identify a target vehicle; test the navigational action against at least one accident liability rule for determining potential accident liability for the host vehicle relative to the target vehicle; if the test indicates that potential accident liability exists for the host vehicle if the navigational action is taken, then cause the host vehicle not to implement the navigational action; and if the test indicates that no accident liability would result for the host vehicle if the navigational action is taken, then cause the host vehicle to implement the navigational action.

公开(公告)号：US10650254B2

公开(公告)日：2020-05-12

申请号：US15982105

申请日：2018-05-17

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Amnon Shashua ,  Gaby Hayon ,  Yossi Hadad ,  Efim Belman ,  Eyal Bagon

IPC: G06K9/00 ,  H04N7/18 ,  G06T7/285 ,  G05D1/02

Abstract: Systems and methods use cameras to provide autonomous navigation features. In one implementation, a driver-assist system is provided for a vehicle. The system may include one or more image capture devices configured to acquire images of an area forward of the vehicle. The system may also include at least one processing device configured to receive, via one or more data interfaces, the images. The at least one processing device may be further configured to analyze the images acquired by the one or more image capture devices and cause at least one navigational response in the vehicle based on monocular and/or stereo image analysis of the images.

公开(公告)号：US20200088539A1

公开(公告)日：2020-03-19

申请号：US16694517

申请日：2019-11-25

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Amnon Shashua ,  Shai Shalev-Shwartz ,  Shaked Shammah

IPC: G01C21/36 ,  G05D1/02 ,  G06K9/00 ,  G06K9/62

Abstract: A navigational system for a host vehicle may comprise at least one processing device. The processing device may be programmed to receive a first output and a second output associated with the host vehicle; identify a representation of a target object in the first output; and determine whether a characteristic of the target object triggers a navigational constraint. If the navigational constraint is not triggered, the processing device may verify the identification of the representation of the target object based on a combination of the first output and the second output. If the navigational constraint is triggered, the processing device may verify the identification of the representation of the target object based on the first output; and in response to the verification, cause at least one navigational change to the host vehicle.

公开(公告)号：US20200073388A1

公开(公告)日：2020-03-05

申请号：US16675048

申请日：2019-11-05

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Amnon Shashua ,  Yoram Gdalyahu ,  Ofer Springer ,  Aran Reisman ,  Daniel Braunstein

IPC: G05D1/00 ,  G06F16/29 ,  G06F16/23 ,  G01C21/32 ,  G06K9/32 ,  B60W30/18 ,  G01C21/14 ,  G05D1/02 ,  G08G1/0967 ,  B62D15/02 ,  G08G1/0962 ,  G08G1/16 ,  G01C21/34 ,  G01C21/36 ,  G06K9/00 ,  G01C21/16 ,  G08G1/01 ,  B60W30/14 ,  G08G1/0968

Abstract: Systems and methods are provided for constructing, using, and updating the sparse map for autonomous vehicle navigation. A system may comprise a processor and a memory. The memory may include instructions, which when executed on the processor, cause the processor to maintain a map; determine, based on analysis of image data, an existence of a non-transient condition that is inconsistent with the map, the image data from a camera integrated with the autonomous vehicle; and update the map.

公开(公告)号：US10579885B2

公开(公告)日：2020-03-03

申请号：US15890807

申请日：2018-02-07

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein ,  Erez Dagan ,  Ofer Mano ,  Amnon Shashua

IPC: G06K9/00 ,  G06T7/33 ,  G06T7/73 ,  G06T7/246 ,  G08G1/16 ,  B60Q9/00 ,  B60T7/22

Abstract: A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.

公开(公告)号：US20200064843A1

公开(公告)日：2020-02-27

申请号：US16672277

申请日：2019-11-01

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Amnon Shashua ,  Yoram Gdalyahu ,  Ofer Springer ,  Aran Reisman ,  Daniel Braunstein

IPC: G05D1/00 ,  G06K9/00 ,  G05D1/02 ,  G01C21/36 ,  G01C21/34 ,  G08G1/0968 ,  B60W30/14 ,  G08G1/01 ,  G01C21/16 ,  G08G1/16 ,  G08G1/0962 ,  B62D15/02 ,  G08G1/0967 ,  G01C21/14 ,  B60W30/18 ,  G06K9/32 ,  G01C21/32 ,  G06F16/23 ,  G06F16/29

Abstract: Systems and methods are provided for constructing, using, and updating the sparse map for autonomous vehicle navigation. A method may comprise processing, by a mapping server, collected navigation information from a plurality of vehicles obtained by sensors coupled to the plurality of vehicles, wherein the navigation information describes road lanes of a road segment; collecting data about landmarks identified proximate to the road segment, the landmarking including a traffic sign; generating, by the mapping server, an autonomous vehicle map for the road segment, wherein the autonomous vehicle map includes a spline corresponding to a lane in the road segment and the landmarks identified proximate to the road segment; and distributing, by the mapping server, the autonomous vehicle map to an autonomous vehicle for use in autonomous navigation over the road segment.