公开(公告)号：US11054827B2

公开(公告)日：2021-07-06

申请号：US15673323

申请日：2017-08-09

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Yoram Gdalyahu ,  Amnon Shashua ,  Yoav Taieb ,  Daniel Braunstein ,  David Huberman ,  Levi Bellaiche

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 ,  H04L29/08 ,  G06T7/00 ,  G01S19/10

Abstract: A system for autonomously navigating a vehicle through a road junction may include at least one processor programmed to receive from an image capture device at least one image representative of an environment of the vehicle. The processor may also be configured to analyze the image to identify two or more landmarks located in the environment of the vehicle and to determine, for each of the two or more landmarks, a directional indicator relative to the vehicle. The processor may be configured to determine a current location of the vehicle relative to the road junction based on an intersection of the directional indicators a heading for the vehicle based on the directional indicators for the two or more landmarks. The processor may be configured to determine a steering angle for the vehicle by comparing the vehicle heading with a predetermined road model trajectory at the current location of the vehicle.

公开(公告)号：US20210162995A1

公开(公告)日：2021-06-03

申请号：US17174689

申请日：2021-02-12

Applicant: Mobileye Vision Technologies Ltd.

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

IPC: B60W30/09 ,  G05D1/02 ,  B60W60/00 ,  G06K9/00 ,  G06T7/70 ,  G06T7/20

Abstract: Systems and methods are provided for navigating a host vehicle. At least one processing device may be programmed to receive an image of an environment of the host vehicle; detect, based on analysis of the image, a pedestrian crosswalk in the image; detect a presence of a traffic light and determine whether the traffic light is relevant to the host vehicle and the pedestrian crosswalk; determine a state of the traffic light; determine, when a pedestrian appears in the image, a proximity of the pedestrian relative to the pedestrian crosswalk; determine a planned navigational action for navigating the host vehicle relative to the pedestrian crosswalk based on a driving policy, the state of the traffic light and the proximity of the pedestrian relative to the pedestrian crosswalk; and cause one or more actuator systems of the host vehicle to implement the planned navigational action.

公开(公告)号：US20210034068A1

公开(公告)日：2021-02-04

申请号：US17075147

申请日：2020-10-20

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： SHAI SHALEV-SHWARTZ ,  Amnon Shashua ,  Shaked Shammah

IPC: G05D1/02 ,  G06N20/00 ,  B60W30/09 ,  G01C21/34 ,  G05D1/00 ,  G06K9/00 ,  G06N3/00 ,  G06N3/08 ,  G06N7/00 ,  G06N3/04 ,  B60W30/095 ,  B60W50/00 ,  G06N5/04 ,  B60W50/04 ,  G01C21/36

Abstract: Systems and methods are provided for navigating an autonomous vehicle using reinforcement learning techniques. In one implementation, a navigation system for a host vehicle may include at least one processing device programmed to: receive, from a camera, a plurality of images representative of an environment of the host vehicle; analyze the plurality of images to identify a navigational state associated with the host vehicle; provide the navigational state to a trained navigational system: receive, from the trained navigational system, a desired navigational action for execution by the host vehicle in response to the identified navigational state; analyze the desired navigational action relative to one or more predefined navigational constraints; determine an actual navigational action for the host vehicle, wherein the actual navigational action includes at least one modification of the desired navigational action determined based on the one or more predefined navigational constraints; and cause at least one adjustment of a navigational actuator of the host vehicle in response to the determined actual navigational action for the host vehicle.

公开(公告)号：US10832063B2

公开(公告)日：2020-11-10

申请号：US16793719

申请日：2020-02-18

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Amnon Shashua ,  Erez Dagan ,  Tomer Baba ,  Yoni Myers ,  Yossi Hollander

IPC: G06K9/00 ,  G06T7/00 ,  B60R11/00 ,  G06T7/215 ,  B60K37/02 ,  B60R1/00 ,  B60R11/04

Abstract: Systems and methods are provided for detecting an object in front of a vehicle. In one implementation, an object detecting system includes an image capture device configured to acquire a plurality of images of an area, a data interface, and a processing device programmed to compare a first image to a second image to determine displacement vectors between pixels, to search for a region of coherent expansion that is a set of pixels in at least one of the first image and the second image, for which there exists a common focus of expansion and a common scale magnitude such that the set of pixels satisfy a relationship between pixel positions, displacement vectors, the common focus of expansion, and the common scale magnitude, and to identify presence of a substantially upright object based on the set of pixels.

公开(公告)号：US10782703B2

公开(公告)日：2020-09-22

申请号：US16434050

申请日：2019-06-06

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Shai Shalev-Shwartz ,  Shaked Shammah ,  Amnon Shashua ,  Yoav Taieb ,  Gideon Stein

IPC: G05D1/02 ,  G05D1/00 ,  G01C21/34 ,  G06N20/00 ,  B60W30/09 ,  G06K9/00 ,  G06N3/00 ,  G06N3/08 ,  G06N7/00 ,  G06N3/04 ,  B60W30/095 ,  B60W50/00 ,  G06N5/04 ,  B60W50/04 ,  G01C21/36

Abstract: Systems and methods are provided for navigating an autonomous vehicle using reinforcement learning techniques. In one implementation, a navigation system for a host vehicle may include at least one processing device programmed to: receive, from a camera, a plurality of images representative of an environment of the host vehicle, analyze the plurality of images to identify a navigational state associated with the host vehicle, provide the navigational state to a trained navigational system, receive, from the trained navigational system, a desired navigational action for execution by the host vehicle in response to the identified navigational state, analyze the desired navigational action relative to one or more predefined navigational constraints, determine an actual navigational action for the host vehicle, wherein the actual navigational action includes at least one modification of the desired navigational action determined based on the one or more predefined navigational constraints, and cause at least one adjustment of a navigational actuator of the host vehicle in response to the determined actual navigational action for the host vehicle.

公开(公告)号：US10649462B2

公开(公告)日：2020-05-12

申请号：US16019892

申请日：2018-06-27

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Shai Shalev-Shwartz ,  Shaked Shammah ,  Amnon Shashua ,  Yoav Taieb ,  Gideon Stein

IPC: G05D1/02 ,  G06N20/00 ,  B60W30/09 ,  G01C21/34 ,  G05D1/00 ,  G06K9/00 ,  G06N3/00 ,  G06N3/08 ,  G06N7/00 ,  G06N3/04 ,  B60W30/095 ,  B60W50/00 ,  G06N5/04 ,  B60W50/04 ,  G01C21/36

Abstract: Systems and methods are provided for navigating an autonomous vehicle using reinforcement learning techniques. In one implementation, a navigation system for a host vehicle may include at least one processing device programmed to: receive, from a camera, a plurality of images representative of an environment of the host vehicle; analyze the plurality of images to identify a navigational state associated with the host vehicle; provide the navigational state to a trained navigational system; receive, from the trained navigational system, a desired navigational action for execution by the host vehicle in response to the identified navigational state; analyze the desired navigational action relative to one or more predefined navigational constraints; determine an actual navigational action for the host vehicle, wherein the actual navigational action includes at least one modification of the desired navigational action determined based on the one or more predefined navigational constraints; and cause at least one adjustment of a navigational actuator of the host vehicle in response to the determined actual navigational action for the host vehicle.

公开(公告)号：US20200064844A1

公开(公告)日：2020-02-27

申请号：US16674939

申请日：2019-11-05

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Amnon Shashua ,  Shai Shalev-Shwartz

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 initiate identification of a landmark based on images from multiple vehicles, the landmark including a traffic sign, fuse the landmark with an existing map to produce an updated map, and distribute the updated map to a plurality of vehicles for use in autonomous operation.

公开(公告)号：US10572744B2

公开(公告)日：2020-02-25

申请号：US15308292

申请日：2015-06-03

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Amnon Shashua ,  Erez Dagan ,  Tomer Baba ,  Yoni Myers ,  Yossi Hollander

IPC: G06K9/00 ,  G06T7/00 ,  B60R11/04 ,  G06T7/215 ,  B60K37/02 ,  B60R1/00

Abstract: Systems and methods are provided for detecting an object in front of a vehicle. In one implementation, an object detecting system includes an image capture device configured to acquire a plurality of images of an area, a data interface, and a processing device programmed to compare a first image to a second image to determine displacement vectors between pixels. The processing device is also programmed to search for a region of coherent expansion that is a set of pixels in at least one of the first image and the second image, for which there exists a common focus of expansion and a common scale magnitude such that the set of pixels satisfy a relationship between pixel positions, displacement vectors, the common focus of expansion, and the common scale magnitude. The processing device is further programmed to identify presence of a substantially upright object based on the set of pixels.

公开(公告)号：US10514705B2

公开(公告)日：2019-12-24

申请号：US16434391

申请日：2019-06-07

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Shai Shalev-Shwartz ,  Shaked Shammah ,  Amnon Shashua ,  Yoav Taieb ,  Gideon Stein

IPC: G05D1/02 ,  G06N20/00 ,  B60W30/09 ,  G01C21/34 ,  G05D1/00 ,  G06K9/00 ,  G06N3/00 ,  B60W30/095 ,  B60W50/00 ,  G06N5/04 ,  B60W50/04 ,  G01C21/36

Abstract: A navigation system for a host vehicle is provided. The system may comprise at least one processing device programmed to receive, from a camera, a plurality of images representative of an environment of the host vehicle; analyze the plurality of images to identify a navigational state associated with the host vehicle; determine a first predefined navigational constraint implicated by at least one aspect of the navigational state; identify, based on analysis of the plurality of images, a presence of at least one navigational constraint augmentation factor; determine a second navigational constraint based on identification of the at least one navigational constraint augmentation factor; determine, based on the identified navigational state, a navigational action for the host vehicle satisfying the second navigational constraint; and cause at least one adjustment of a navigational actuator of the host vehicle in response to the determined navigational action.

公开(公告)号：US20190337509A1

公开(公告)日：2019-11-07

申请号：US16426403

申请日：2019-05-30

Applicant: Mobileye Vision Technologies Ltd.

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

IPC: B60W30/09 ,  B60W10/20 ,  B60W40/06 ,  B60W40/105 ,  B60W10/18

Abstract: A navigation system includes a processor programmed to receive, from a sensor, an output related to a motion of the host vehicle. The output is generated at a first time that is later than a data acquisition time, when a measurement or data acquisition on which the output is based is acquired, and earlier than a second time at which the sensor output is received processor; generate, for a motion prediction time, a prediction of at least one aspect of host vehicle motion based, on the output and how the aspect of host vehicle motion changes over a time interval between the data acquisition time and the motion prediction time; determine a navigational action for the host vehicle; generate a navigational command for implementing at least a portion of the navigational action; and provide the navigational command to at least one actuation system of the host vehicle.