公开(公告)号：US20170248960A1

公开(公告)日：2017-08-31

申请号：US15586243

申请日：2017-05-03

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Amnon SHASHUA ,  Yoram GDALYAHU ,  Ofer SPRINGER ,  Aran REISMAN ,  Daniel BRAUNSTEIN

IPC: G05D1/02 ,  G08G1/0967 ,  G01C21/32 ,  G08G1/0962 ,  G01C21/36 ,  G01C21/14

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：US20170010618A1

公开(公告)日：2017-01-12

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: G05D1/02 ,  G06F17/30 ,  G08G1/0967 ,  G08G1/0968 ,  G05D1/00 ,  G01C21/32

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: 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.

Abstract translation: 为自我感知自适应导航提供了系统和方法。 在一个实施方式中，用于车辆的导航系统可以包括至少一个处理器。 至少一个处理器可以被编程为至少部分地基于车辆的运动相对于代表道路段的预定模型的比较来确定车辆的导航机动。 至少一个处理器可以进一步被编程为从相机接收代表车辆环境的至少一个图像。 所述至少一个处理器可进一步被编程为基于所述至少一个图像的分析来确定所述车辆环境中存在导航调节条件，使得所述车辆基于所述导航操作的存在来调整所述导航操作 导航调整条件，以及存储与导航调整条件有关的信息。

公开(公告)号：US20190384294A1

公开(公告)日：2019-12-19

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 ,  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 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：US20190384296A1

公开(公告)日：2019-12-19

申请号：US16554561

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 ,  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 disclosed for providing maps to an autonomous vehicle. Methods include maintaining a road model that includes trajectories associated with a road segment, the trajectories used to assist the autonomous vehicle to navigate on a target trajectory consistent with the road model; determining, based on analysis of image data, an existence of a non-transient condition that is inconsistent with the road model, the image data from a camera integrated with the autonomous vehicle, wherein the autonomous vehicle is configured to deviate from the target trajectory based on the existence of the non-transient condition; and storing information about the non-transient condition for updating the road model.

公开(公告)号：US20170008562A1

公开(公告)日：2017-01-12

申请号：US15273030

申请日：2016-09-22

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Amnon SHASHUA ,  Yoram GDALYAHU ,  Ofer SPRINGER ,  Aran REISMAN ,  Daniel BRAUNSTEIN

IPC: B62D15/02 ,  G01C21/32 ,  G08G1/16 ,  G08G1/0962 ,  G05D1/00 ,  G05D1/02

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 autonomously navigating a 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 at least one image representative of an environment of the vehicle. The processor may also be programmed to analyze the at least one image to identify at least one recognized landmark. Further, the processor may be programmed to determine a current location of the vehicle relative to a predetermined road model trajectory associated with the road segment based, at least in part, on a predetermined location of the recognized landmark. In addition, the processor may be programmed to determine an autonomous steering action for the vehicle based on a direction of the predetermined road model trajectory at the determined current location of the vehicle relative to the predetermined road model trajectory.

Abstract translation: 公开了一种沿着道路段自主地导航车辆的系统。 该系统可以具有至少一个处理器。 处理器可以被编程为从图像捕获装置接收代表车辆环境的至少一个图像。 处理器还可以被编程为分析至少一个图像以识别至少一个识别的标记。 此外，处理器可以被编程为至少部分地基于识别的地标的预定位置来相对于与道路段相关联的预定道路模型轨迹来确定车辆的当前位置。 此外，处理器可以被编程为基于车辆相对于预定道路模型轨迹确定的当前位置处的预定道路模型轨迹的方向来确定车辆的自主转向动作。

公开(公告)号：US20170010616A1

公开(公告)日：2017-01-12

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 ,  G08G1/0968 ,  G08G1/0967 ,  G05D1/00 ,  G01C21/32

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.

Abstract translation: 提供了一种非暂时的计算机可读介质。 计算机可读介质包括用于沿着道路段自主车辆导航的稀疏地图。 稀疏映射包括沿着道路段的自主车辆的目标轨迹的多项式表示，以及与道路段相关联的多个预定地标。 多个预定的地标间隔开至少50米，稀疏地图的数据密度不超过每公里1兆字节。

公开(公告)号：US20170010614A1

公开(公告)日：2017-01-12

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

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.

Abstract translation: 公开了一种沿着道路段导航自主车辆的系统。 该系统可以具有至少一个处理器。 处理器可以被编程为从图像捕获装置接收代表自主车辆的环境的图像。 处理器还可以被编程为基于图像的分析来确定沿着路段的行进轨迹。 此外，处理器可以被编程为基于对多个图像中的一个或多个图像的分析来沿着预定道路模型轨迹来确定自主车辆的当前位置。 处理器还可以被编程为基于确定的行进轨迹来确定航向方向。 此外，处理器可以被编程以通过将行进轨迹与自主车辆的当前位置处的预定道路模型轨迹进行比较来确定相对于航向方向的转向方向。

公开(公告)号：US20170010106A1

公开(公告)日：2017-01-12

申请号：US15272802

申请日：2016-09-22

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Amnon SHASHUA ,  Yoram GDALYAHU ,  Ofer SPRINGER ,  Aran REISMAN ,  Daniel BRAUNSTEIN

IPC: G01C21/32 ,  G06F17/30 ,  G05D1/00

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 method of processing vehicle navigation information for use in autonomous vehicle navigation is provided. The method includes receiving, by a server, navigation information from a plurality of vehicles. The navigation information from the plurality of vehicles is associated with a common road segment. The method also includes storing, by the server, the navigation information associated with the common road segment. The method also includes generating, by the server, at least a portion of an autonomous vehicle road navigation model for the common road segment based on the navigation information from the plurality of vehicles. The method further includes distributing, by the server, the autonomous vehicle road navigation model to one or more autonomous vehicles for use in autonomously navigating the one or more autonomous vehicles along the common road segment.

Abstract translation: 提供一种处理用于自主车辆导航中的车辆导航信息的方法。 该方法包括由服务器接收来自多个车辆的导航信息。 来自多个车辆的导航信息与公共道路段相关联。 该方法还包括由服务器存储与公共路段相关联的导航信息。 该方法还包括基于来自多个车辆的导航信息，由服务器产生用于公共道路段的自主车辆道路导航模型的至少一部分。 该方法还包括由服务器将自主车辆道路导航模型分配给一个或多个自主车辆，以用于沿着公共道路段自主导航一个或多个自主车辆。