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公开(公告)号：US11731617B2
公开(公告)日：2023-08-22
申请号：US17106700
申请日：2020-11-30
发明人： Shai Shalev-Shwartz , Shaked Shammah , Amnon Shashua , Barak Cohen , Zeev Adelman , Oded Berberian
IPC分类号： B60W30/09 , B60W10/18 , B60W10/20 , B60W40/06 , B60W40/105 , B60W50/08 , B60W30/18 , B60W30/095 , B60W50/12 , B60W10/06 , B60W30/165
CPC分类号： B60W30/09 , B60W10/06 , B60W10/18 , B60W10/20 , B60W30/0953 , B60W30/0956 , B60W30/165 , B60W30/18154 , B60W30/18163 , B60W40/06 , B60W40/105 , B60W50/087 , B60W50/12 , B60W2420/42 , B60W2420/52 , B60W2510/18 , B60W2520/10 , B60W2520/105 , B60W2552/00 , B60W2554/00 , B60W2554/80 , B60W2555/20 , B60W2710/18 , B60W2710/20 , B60W2754/30
摘要： 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 following 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 maximum braking capability of the target vehicle; and implement the planned navigational action when the predicted following distance is greater than a minimum safe longitudinal distance based on the determined host vehicle braking distance and the determined target vehicle braking distance.
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公开(公告)号：US09509979B2
公开(公告)日：2016-11-29
申请号：US14554544
申请日：2014-11-26
发明人： Harel Livyatan , Oded Berberian
CPC分类号： H04N13/246 , B60R1/00 , B60R11/04 , B60R2011/0026 , B60R2300/105 , B60R2300/402 , G06K9/00791 , G06K9/6201 , G06T7/579 , G06T7/85 , G06T2207/30252 , H04N5/3532 , H04N13/239 , H04N13/271 , H04N2013/0081
摘要： Auto-calibration of stereo cameras installable behind the windshield of a host vehicle and oriented to view the environment through the windshield. Multiple first image points are located of one of the first images captured from the first camera at a first time and matched with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times. World coordinates are computed from the corresponding first image points. Second image points in the second images captured from the second camera are matched to at least a portion of the first image points. The world coordinates as determined from the first camera are used, to solve for camera parameters of the second camera from the matching second image points of the second camera.
摘要翻译： 自动校准可安装在主车辆挡风玻璃后面的立体摄像机，并定向为通过挡风玻璃来观察环境。 多个第一图像点位于第一时间从第一相机捕获的第一图像之一，并与第二时间从第一相机捕获的至少另一个第一图像的第一图像点匹配，以产生对 分别在不同时间拍摄的第一图像中的第一图像点。 从相应的第一个图像点计算世界坐标。 从第二相机拍摄的第二图像中的第二图像点与第一图像点的至少一部分匹配。 使用从第一相机确定的世界坐标，从第二相机的匹配的第二图像点解算第二相机的相机参数。
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公开(公告)号：US11200433B2
公开(公告)日：2021-12-14
申请号：US16608589
申请日：2018-05-03
发明人： Oded Berberian , Barak Cohen
摘要： The present disclosure relates to systems and methods for road edge detection and mapping, for vehicle wheel identification and navigation based thereon, and for classification of objects as moving or non-moving. Such systems and methods may include the use of trained systems, such as one or more neural networks. Further, autonomous vehicle systems may incorporate aspects of one or more of the disclosed systems and methods.
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公开(公告)号：US10776635B2
公开(公告)日：2020-09-15
申请号：US14180548
申请日：2014-02-14
发明人： Oded Berberian , Gideon Stein
IPC分类号： G06K9/00 , H04N13/00 , H04N13/271
摘要： Detection of three dimensional obstacles using a system mountable in a host vehicle including a camera connectible to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, an imaged feature is detected of an object in the environment of the vehicle. The image frames are portioned locally around the imaged feature to produce imaged portions of the image frames including the imaged feature. The image frames are processed to compute a depth map locally around the detected imaged feature in the image portions. Responsive to the depth map, it is determined if the object is an obstacle to the motion of the vehicle.
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公开(公告)号：US10097812B2
公开(公告)日：2018-10-09
申请号：US15669357
申请日：2017-08-04
发明人： Harel Livyatan , Oded Berberian
IPC分类号： H04N9/47 , H04N13/246 , H04N13/02 , B60R11/04 , G06T7/579 , G06K9/62 , G06K9/00 , H04N13/271 , B60R11/00 , H04N13/00
摘要： Auto-calibration of stereo cameras installable behind the windshield of a host vehicle and oriented to view the environment through the windshield. Multiple first image points are located of one of the first images captured from the first camera at a first time and matched with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times. World coordinates are computed from the corresponding first image points. Second image points in the second images captured from the second camera are matched to at least a portion of the first image points. The world coordinates as determined from the first camera are used, to solve for camera parameters of the second camera from the matching second image points of the second camera.
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公开(公告)号：US11062155B2
公开(公告)日：2021-07-13
申请号：US17011798
申请日：2020-09-03
发明人： Oded Berberian , Gideon Stein
IPC分类号： G06K9/00 , H04N13/271
摘要： Detection of three dimensional obstacles using a system mountable in a host vehicle including a camera connectible to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, an imaged feature is detected of an object in the environment of the vehicle. The image frames are portioned locally around the imaged feature to produce imaged portions of the image frames including the imaged feature. The image frames are processed to compute a depth map locally around the detected imaged feature in the image portions. Responsive to the depth map, it is determined if the object is an obstacle to the motion of the vehicle.
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公开(公告)号：US20200265550A1
公开(公告)日：2020-08-20
申请号：US16867059
申请日：2020-05-05
发明人： Harel Livyatan , Oded Berberian , Barak Cohen , Gideon Stein
摘要： Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectible to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, a line is selected below which the road is imaged. The line separates between upper images essentially excluding images of the road and lower images essentially including images of the road. One or more of the lower images is warped, according to a road homography to produce at least one warped lower image. The three-dimensional structure may be provided from motion of a matching feature within the upper images or from motion of a matching feature within at least one of the lower images and at least one warped lower image.
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公开(公告)号：US09959595B2
公开(公告)日：2018-05-01
申请号：US14182715
申请日：2014-02-18
发明人： Harel Livyatan , Oded Berberian , Barak Cohen , Gideon Stein
CPC分类号： G06T3/0093 , G06K9/00798 , G06K9/6201 , G06T7/20 , G06T7/579 , G06T2207/10016 , G06T2207/30256
摘要： Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectable to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, a line is selected below which the road is imaged. The line separates between upper images essentially excluding images of the road and lower images essentially including images of the road. One or more of the lower images is warped, according to a road homography to produce at least one warped lower image. The three-dimensional structure may be provided from motion of a matching feature within the upper images or from motion of a matching feature within at least one of the lower images and at least one warped lower image.
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公开(公告)号：US11345340B2
公开(公告)日：2022-05-31
申请号：US17127101
申请日：2020-12-18
发明人： Shai Shalev-Shwartz , Shaked Shammah , Amnon Shashua , Barak Cohen , Zeev Adelman , Oded Berberian
IPC分类号： B60W30/09 , B60W30/095 , B60W10/18 , B60W10/20 , B60W40/06 , B60W40/105 , B60W50/08 , B60W30/18 , B60W50/12 , B60W10/06 , B60W30/165
摘要： Systems and methods are provided for vehicle navigation. In one implementation, a processing device may be configured to obtain a planned driving action for accomplishing a navigational goal of a host vehicle; receive sensor data from an environment surrounding the host vehicle; identify a target vehicle moving in the environment and a velocity of the target vehicle; calculate a stopping distance and a predicted trajectory for the target vehicle; calculate a planned trajectory for the host vehicle corresponding to the planned driving action; identify an intersection of the planned trajectory for the host vehicle with the predicted trajectory for the target vehicle; determine a braking action of the host vehicle to comply with a safety requirement; and cause the braking action to be applied to decelerate the host vehicle to change the planned trajectory, until the changed trajectory does not intersect the predicted trajectory of the target vehicle.
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公开(公告)号：US11170466B2
公开(公告)日：2021-11-09
申请号：US16867059
申请日：2020-05-05
发明人： Harel Livyatan , Oded Berberian , Barak Cohen , Gideon Stein
摘要： Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectible to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, a line is selected below which the road is imaged. The line separates between upper images essentially excluding images of the road and lower images essentially including images of the road. One or more of the lower images is warped, according to a road homography to produce at least one warped lower image. The three-dimensional structure may be provided from motion of a matching feature within the upper images or from motion of a matching feature within at least one of the lower images and at least one warped lower image.
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