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 |
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.
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