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1. WO2018172849 - TRAJECTORY SELECTION FOR AN AUTONOMOUS VEHICLE

Publication Number WO/2018/172849
Publication Date 27.09.2018
International Application No. PCT/IB2018/000366
International Filing Date 20.03.2018
IPC
G05D 1/02 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
B60W 2420/42
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2420Indexing codes relating to the type of sensors based on the principle of their operation
42Image sensing, e.g. optical camera
B60W 2552/53
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2552Input parameters relating to infrastructure
53Road markings, e.g. lane marker or crosswalk
B60W 2554/4029
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2554Input parameters relating to objects
40Dynamic objects, e.g. animals, windblown objects
402Type
4029Pedestrians
B60W 2556/40
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2556Input parameters relating to data
40High definition maps
B60W 2556/45
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2556Input parameters relating to data
45External transmission of data to or from the vehicle
B60W 2754/20
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2754Output or target parameters relating to objects
10Spatial relation or speed relative to objects
20Lateral distance
Applicants
  • MOBILEYE VISION TECHNOLOGIES LTD. [IL]/[IL]
Inventors
  • SHALEV-SHWARTZ, Shai
  • SHASHUA, Amnon
  • SHAMMAH, Shaked
Priority Data
62/473,64320.03.2017US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) TRAJECTORY SELECTION FOR AN AUTONOMOUS VEHICLE
(FR) SÉLECTION DE TRAJECTOIRE POUR UN VÉHICULE AUTONOME
Abstract
(EN)
A navigation system for a host vehicle may include at least one processor programmed to receive, from a camera, a plurality of images representative of an environment of the host vehicle. The processor may also be programmed to analyze at least one of the plurality of images to identify navigational state information associated with the host vehicle; determine a plurality of potential trajectories for the host vehicle based on the navigational state information; perform a preliminary analysis relative to each of the plurality of potential trajectories and assign to each of the plurality of potential trajectories, based on the preliminary analysis, at least one indicator of relative ranking; select, based on the at least one indicator of relative ranking assigned to each of the plurality of potential trajectories, a subset of the plurality of potential trajectories, wherein the subset of the plurality of potential trajectories includes fewer potential trajectories than the plurality of potential trajectories; perform a secondary analysis relative to the subset of the plurality of potential trajectories, and based on the secondary analysis, select one of the subset of the plurality of potential trajectories as a planned trajectory for the host vehicle; determine one or more navigational actions for the host vehicle based on the planned trajectory selected from among the subset of the plurality of potential trajectories; and cause at least one adjustment of a navigational actuator of the host vehicle to implement the one or more navigational actions for the host vehicle.
(FR)
L'invention concerne un système de navigation pour un véhicule hôte pouvant comprendre au moins un processeur programmé pour recevoir, d'une caméra, une pluralité d'images représentant un environnement du véhicule hôte. Le processeur peut également être programmé pour : analyser au moins une des images afin d'identifier des informations d'état de navigation associées au véhicule hôte ; déterminer une pluralité de trajectoires potentielles pour le véhicule hôte en fonction des informations d'état de navigation ; effectuer une analyse préliminaire concernant chacune des trajectoires potentielles et attribuer, à chacune des trajectoires potentielles, et d'après l'analyse préliminaire, au moins un indicateur de classement relatif ; sélectionner, en fonction dudit indicateur de classement relatif attribué à chacune des trajectoires potentielles, un sous-ensemble de la pluralité de trajectoires potentielles, le sous-ensemble de la pluralité de trajectoires potentielles comprenant moins de trajectoires potentielles que la pluralité de trajectoires potentielles ; effectuer une analyse secondaire par rapport au sous-ensemble des trajectoires potentielles, et d'après l'analyse secondaire, sélectionner une trajectoire du sous-ensemble de trajectoires potentielles en tant que trajectoire planifiée pour le véhicule hôte ; déterminer au moins une action de navigation pour le véhicule hôte en fonction de la trajectoire planifiée sélectionnée dans le sous-ensemble de trajectoires potentielles ; et amener au moins un réglage d'un actionneur de navigation du véhicule hôte à mettre en œuvre ladite action de navigation pour le véhicule hôte.
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