US 11,815,904 B2
Trajectory selection for an autonomous vehicle
Shai Shalev-Shwartz, Jerusalem (IL); Amnon Shashua, Mevaseret Zion (IL); and Shaked Shammah, Jerusalem (IL)
Assigned to MOBILEYE VISION TECHNOLOGIES LTD., Jerusalem (IL)
Filed by Mobileye Vision Technologies Ltd., Jerusalem (IL)
Filed on Oct. 22, 2021, as Appl. No. 17/451,858.
Application 17/451,858 is a continuation of application No. 16/545,946, filed on Aug. 20, 2019, granted, now 11,181,926.
Application 16/545,946 is a continuation of application No. PCT/IB2018/000366, filed on Mar. 20, 2018.
Claims priority of provisional application 62/473,643, filed on Mar. 20, 2017.
Prior Publication US 2022/0043456 A1, Feb. 10, 2022
Int. Cl. G05D 1/02 (2020.01); G01C 21/34 (2006.01); G06V 20/56 (2022.01); B60W 60/00 (2020.01)
CPC G05D 1/0251 (2013.01) [B60W 60/0011 (2020.02); G01C 21/3415 (2013.01); G01C 21/3492 (2013.01); G05D 1/0214 (2013.01); G06V 20/56 (2022.01); B60W 2420/42 (2013.01); B60W 2554/4029 (2020.02); B60W 2754/30 (2020.02); G05D 2201/0213 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A navigation system for a host vehicle, the navigation system comprising:
at least one processor comprising circuitry and a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processor to:
receive a plurality of images acquired by a camera, the plurality of images being representative of an environment of the host vehicle;
analyze at least one of the plurality of images to determine a plurality of navigational constraints based on the environment of the host vehicle;
determine a plurality of potential trajectories for the host vehicle based on the navigational constraints, the navigational constraints being associated with relative priorities between the navigational constraints;
determine at least one navigational constraint relaxation factor;
based on the at least one navigational constraint relaxation factor, relax at least one of the navigational constraints to be less restrictive;
based on the at least one relaxed navigational constraint and the relative priorities between the navigational constraints, select one 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 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.