公开(公告)号：US11599113B2

公开(公告)日：2023-03-07

申请号：US16554437

申请日：2019-08-28

Applicant: Mobileye Vision Technologies Ltd.

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

IPC: G05D1/00 ,  G05D1/02 ,  G01C21/36 ,  G01C21/34 ,  G08G1/0968 ,  B60W30/14 ,  G08G1/01 ,  G08G1/16 ,  G08G1/0962 ,  B62D15/02 ,  G08G1/0967 ,  G01C21/14 ,  B60W30/18 ,  G06F16/23 ,  G06F16/29 ,  G06V20/56 ,  G06V20/62 ,  G06V20/58 ,  G01C21/16 ,  G01S19/10 ,  G06T7/00 ,  H04L67/12 ,  G01C21/00

Abstract: Systems and methods of processing crowdsourced navigation information for use in autonomous vehicle navigation are disclosed. A method may include processing, by a mapping server, crowdsourced 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.

公开(公告)号：US11378958B2

公开(公告)日：2022-07-05

申请号：US16806616

申请日：2020-03-02

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 ,  G06V20/56 ,  G06V20/62 ,  G06V20/58 ,  B60W30/18 ,  G01C21/14 ,  G05D1/02 ,  G08G1/0967 ,  B62D15/02 ,  G08G1/0962 ,  G08G1/16 ,  G01C21/34 ,  G01C21/36 ,  G01C21/16 ,  G08G1/01 ,  B60W30/14 ,  G08G1/0968 ,  H04L67/12 ,  G06T7/00 ,  G01S19/10

Abstract: Systems and methods navigate a vehicle on a road at least partially covered with snow. In one implementation, a system may include at least one processor programmed to receive from an image capture device, a plurality of images captured of an environment forward of the vehicle, including an area where snow covers a road on which the vehicle travels, analyze at least one of the plurality of images to identify a first free space boundary on a first side of the vehicle and extending forward of the vehicle, a second free space boundary on a passenger side of the vehicle and extending forward of the vehicle, and a forward free space boundary forward of the vehicle and extending between the first free space boundary and the second free space boundary.

公开(公告)号：US20200326707A1

公开(公告)日：2020-10-15

申请号：US16913908

申请日：2020-06-26

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. In one implementation, a non-transitory computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment and a plurality of predetermined landmarks associated with the road segment, wherein the plurality of predetermined landmarks are spaced apart by at least 50 meters. The sparse map has a data density of no more than 1 megabyte per kilometer.

公开(公告)号：US09690293B2

公开(公告)日：2017-06-27

申请号：US15273044

申请日：2016-09-22

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Amnon Shashua ,  Aran Reisman ,  Daniel Braunstein ,  Yoav Taieb ,  Igor Tubis

IPC: G05D1/00 ,  G05D1/02 ,  G01C21/32 ,  G06F17/30 ,  B60W30/18 ,  G01C21/14 ,  G08G1/0967 ,  B62D15/02 ,  G08G1/0962 ,  G08G1/16 ,  G01C21/34 ,  G01C21/36 ,  G06K9/00 ,  G01C21/16 ,  G08G1/01 ,  B60W30/14 ,  G08G1/0968 ,  H04L29/08 ,  G06T7/00 ,  G01S19/10

CPC classification number: G05D1/0088 ,  B60W30/14 ,  B60W30/18 ,  B60W2420/42 ,  B60W2550/22 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/10 ,  B62D15/025 ,  G01C21/14 ,  G01C21/165 ,  G01C21/32 ,  G01C21/34 ,  G01C21/3407 ,  G01C21/3476 ,  G01C21/36 ,  G01C21/3602 ,  G01C21/3623 ,  G01C21/3644 ,  G01C21/3691 ,  G01S19/10 ,  G05D1/0212 ,  G05D1/0219 ,  G05D1/0221 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0253 ,  G05D1/0278 ,  G05D1/0287 ,  G05D2201/0213 ,  G06F17/30241 ,  G06F17/30377 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00818 ,  G06K9/00825 ,  G06K9/3258 ,  G06T7/00 ,  G06T2207/20081 ,  G06T2207/30256 ,  G06T2207/30261 ,  G08G1/0112 ,  G08G1/09623 ,  G08G1/096725 ,  G08G1/096805 ,  G08G1/167 ,  H04L67/12

Abstract: A system for navigating an autonomous vehicle along a road segment is disclosed. The system may have at least one processor. The processor may be programmed to receive from an image capture device, images representative of an environment of the autonomous vehicle. The processor may also be programmed to determine a travelled trajectory along the road segment based on analysis of the images. Further, the processor may be programmed to determine a current location of the autonomous vehicle along a predetermined road model trajectory based on analysis of one or more of the plurality of images. The processor may also be programmed to determine a heading direction based on the determined traveled trajectory. In addition, the processor may be programmed to determine a steering direction, relative to the heading direction, by comparing the traveled trajectory to the predetermined road model trajectory at the current location of the autonomous vehicle.

公开(公告)号：US09665100B2

公开(公告)日：2017-05-30

申请号：US15272598

申请日：2016-09-22

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

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

IPC: G05D1/02 ,  G05D1/00 ,  G01C21/32 ,  G08G1/0967 ,  G08G1/0968

CPC classification number: G05D1/0088 ,  B60W30/14 ,  B60W30/18 ,  B60W2420/42 ,  B60W2550/22 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/10 ,  B62D15/025 ,  G01C21/14 ,  G01C21/165 ,  G01C21/32 ,  G01C21/34 ,  G01C21/3407 ,  G01C21/3476 ,  G01C21/36 ,  G01C21/3602 ,  G01C21/3623 ,  G01C21/3644 ,  G01C21/3691 ,  G01S19/10 ,  G05D1/0212 ,  G05D1/0219 ,  G05D1/0221 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0253 ,  G05D1/0278 ,  G05D1/0287 ,  G05D2201/0213 ,  G06F17/30241 ,  G06F17/30377 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00818 ,  G06K9/00825 ,  G06K9/3258 ,  G06T7/00 ,  G06T2207/20081 ,  G06T2207/30256 ,  G06T2207/30261 ,  G08G1/0112 ,  G08G1/09623 ,  G08G1/096725 ,  G08G1/096805 ,  G08G1/167 ,  H04L67/12

Abstract: A non-transitory computer-readable medium is provided. The computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment, and a plurality of predetermined landmarks associated with the road segment. The plurality of predetermined landmarks are spaced apart by at least 50 meters, and the sparse map has a data density of no more than 1 megabyte per kilometer.

公开(公告)号：US20170010124A1

公开(公告)日：2017-01-12

申请号：US15272893

申请日：2016-09-22

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Aran Reisman ,  Ori Buberman

IPC: G01C21/36 ,  G01C21/16

CPC classification number: G05D1/0088 ,  B60W30/14 ,  B60W30/18 ,  B60W2420/42 ,  B60W2550/22 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/10 ,  B62D15/025 ,  G01C21/14 ,  G01C21/165 ,  G01C21/32 ,  G01C21/34 ,  G01C21/3407 ,  G01C21/3476 ,  G01C21/36 ,  G01C21/3602 ,  G01C21/3623 ,  G01C21/3644 ,  G01C21/3691 ,  G01S19/10 ,  G05D1/0212 ,  G05D1/0219 ,  G05D1/0221 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0253 ,  G05D1/0278 ,  G05D1/0287 ,  G05D2201/0213 ,  G06F17/30241 ,  G06F17/30377 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00818 ,  G06K9/00825 ,  G06K9/3258 ,  G06T7/00 ,  G06T2207/20081 ,  G06T2207/30256 ,  G06T2207/30261 ,  G08G1/0112 ,  G08G1/09623 ,  G08G1/096725 ,  G08G1/096805 ,  G08G1/167 ,  H04L67/12

Abstract: A navigation system for a vehicle is provided. The system includes at least one processor programmed to receive, from one or more sensors, outputs indicative of a motion of the vehicle. The at least one processor is also programmed to determine an actual trajectory of the vehicle based on the outputs from the one or more sensors; receive, from a camera, at least one environmental image associated with the vehicle; and analyze the at least one environmental image to determine information associated with at least one navigational constraint. The at least one processor is further programmed to determine a target trajectory, including the actual trajectory of the vehicle and one or more modifications to the actual trajectory based on the determined information associated with the at least one navigational constraint; and transmit the target trajectory from the vehicle to a server.

Abstract translation: 提供了一种用于车辆的导航系统。 该系统包括被编程为从一个或多个传感器接收指示车辆运动的输出的至少一个处理器。 至少一个处理器还被编程为基于来自一个或多个传感器的输出来确定车辆的实际轨迹; 从相机接收与所述车辆相关联的至少一个环境图像; 并且分析所述至少一个环境图像以确定与至少一个导航约束相关联的信息。 所述至少一个处理器被进一步编程以基于与所述至少一个导航约束相关联的所确定的信息来确定包括所述车辆的实际轨迹和对所述实际轨迹的一个或多个修改的目标轨迹; 并将目标轨迹从车辆传输到服务器。

公开(公告)号：US11422554B2

公开(公告)日：2022-08-23

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: G08G1/16 ,  G08G1/00 ,  G01S19/00 ,  G01C21/00 ,  B60W30/10 ,  G05D1/00 ,  G06F16/29 ,  G06F16/23 ,  G01C21/32 ,  G06V20/56 ,  G06V20/62 ,  G06V20/58 ,  B60W30/18 ,  G01C21/14 ,  G05D1/02 ,  G08G1/0967 ,  B62D15/02 ,  G08G1/0962 ,  G01C21/34 ,  G01C21/36 ,  G01C21/16 ,  G08G1/01 ,  B60W30/14 ,  G08G1/0968 ,  H04L67/12 ,  G06T7/00 ,  G01S19/10

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：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：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.

公开(公告)号：US10198001B2

公开(公告)日：2019-02-05

申请号：US15273581

申请日：2016-09-22

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

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

IPC: G05D1/00 ,  G01C21/32 ,  G06F17/30 ,  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 ,  G06K9/32 ,  H04L29/08 ,  G06T7/00 ,  G01S19/10

Abstract: Systems and methods are provided for self-aware adaptive navigation. In one implementation, a navigation system for a vehicle may include at least one processor. The at least one processor may be programmed to determine a navigational maneuver for the vehicle based, at least in part, on a comparison of a motion of the vehicle with respect to a predetermined model representative of a road segment. The at least one processor may be further programmed to receive, from a camera, at least one image representative of an environment of the vehicle. The at least one processor may be further programmed to determine, based on analysis of the at least one image, an existence in the environment of the vehicle of an navigational adjustment condition, cause the vehicle to adjust the navigational maneuver based on the existence of the navigational adjustment condition, and store information relating to the navigational adjustment condition.