公开(公告)号：US11240471B2

公开(公告)日：2022-02-01

申请号：US17111983

申请日：2020-12-04

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein ,  Amnon Shashua

IPC: G06K9/36 ,  H04N7/18 ,  B60W40/076 ,  G06K9/46 ,  G06K9/00

Abstract: Various driver assistance systems mountable in a host vehicle and computerized methods for detecting a vertical deviation of a road surface. The driver assistance system includes a camera operatively connectible to a processor. Multiple consecutive image frames are captured from the camera including a first image of the road and a second image of the road. Based on the host vehicle motion, the second image is warped toward the first image to produce thereby a warped second image. Image points of the road in the first image and corresponding image points of the road in the warped second image are tracked. Optical flow is computed between the warped second image to the first image. The optical flow is compared with an optical flow based on a road surface model to produce a residual optical flow. The vertical deviation is computed from the residual optical flow.

公开(公告)号：US20210176432A1

公开(公告)日：2021-06-10

申请号：US17111983

申请日：2020-12-04

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein ,  Amnon Shashua

IPC: H04N7/18 ,  B60W40/076 ,  G06K9/46 ,  G06K9/00

Abstract: Various driver assistance systems mountable in a host vehicle and computerized methods for detecting a vertical deviation of a road surface. The driver assistance system includes a camera operatively connectible to a processor. Multiple consecutive image frames are captured from the camera including a first image of the road and a second image of the road. Based on the host vehicle motion, the second image is warped toward the first image to produce thereby a warped second image. Image points of the road in the first image and corresponding image points of the road in the warped second image are tracked. Optical flow is computed between the warped second image to the first image. The optical flow is compared with an optical flow based on a road surface model to produce a residual optical flow. The vertical deviation is computed from the residual optical flow.

公开(公告)号：US10984259B2

公开(公告)日：2021-04-20

申请号：US16658360

申请日：2019-10-21

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag ,  Yaakov Kingsley

IPC: H04N7/18 ,  G06K9/00 ,  G06T7/73 ,  G06T7/13 ,  G06K9/46 ,  G06K9/52 ,  G06T5/00 ,  G06T7/20 ,  G06T7/40 ,  G06T7/60

Abstract: In some embodiments, a first homography, created from two images of a roadway, is decomposed to determine an ego-motion, and the ego-motion is used to adjust a previous estimate of a road plane. The adjusted previous estimate of the road plane is combined with the current estimate of the plane to create a second homography, and the second homography is used to determine residual motion and vertical deviation in the surface of the roadway. In some embodiments, multiple road profiles each corresponding to a common portion of a roadway are adjusted in slope and offset by optimizing a function having a data term, a smoothness term and a regularization term; and the adjusted road profiles are combined into a multi-frame road profile. In some embodiments, road profile information for a predetermined number of data points is transmitted in periodic data bursts, with more than one data point per data burst.

公开(公告)号：US20210072765A1

公开(公告)日：2021-03-11

申请号：US16939359

申请日：2020-07-27

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Dor Eagelberg ,  Gideon Stein ,  Yoav Taieb ,  Yoram Gdalyahu ,  Ofer Fridman

IPC: G05D1/02 ,  G01C21/34 ,  B60W30/09 ,  G05D1/00 ,  G06K9/00

Abstract: Systems and methods are provided for navigating an autonomous vehicle. In one implementation, a system includes a processing device programmed to receive a plurality of images representative of an environment of the host vehicle. The environment includes a road on which the host vehicle is traveling. The at least one processing device is further programmed to analyze the images to identify a target vehicle traveling in a lane of the road different from a lane in which the host vehicle is traveling; analyze the images to identify a lane mark associated with the lane in which the target vehicle is traveling; detect lane mark characteristics of the identified lane mark; use the detected lane mark characteristics to determine a type of the identified lane mark; determine a characteristic of the target vehicle; and determine a navigational action for the host vehicle based on the determined lane mark type and the determined characteristic of the target vehicle.

公开(公告)号：US10827151B2

公开(公告)日：2020-11-03

申请号：US16524875

申请日：2019-07-29

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein

IPC: H04N7/18 ,  G06K9/00

Abstract: A method is provided using a system mounted in a vehicle. The system includes a rear-viewing camera and a processor attached to the rear-viewing camera. When the driver shifts the vehicle into reverse gear, and while the vehicle is still stationary, image frames from the immediate vicinity behind the vehicle are captured. The immediate vicinity behind the vehicle is in a field of view of the rear-viewing camera. The image frames are processed and thereby the object is detected which if present in the immediate vicinity behind the vehicle would obstruct the motion of the vehicle. The processing is preferably performed in parallel for a plurality of classes of obstructing objects using a single image frame of the image frames.

公开(公告)号：US10764517B2

公开(公告)日：2020-09-01

申请号：US16242189

申请日：2019-01-08

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein ,  Efim Belman

IPC: H04N7/18 ,  H04N5/353 ,  H04N13/25 ,  H04N13/282 ,  H04N13/296 ,  H04N5/247 ,  G06K9/00 ,  H04N5/232 ,  B60R1/00 ,  H04N5/04

Abstract: An imaging system for a vehicle may include a first image capture device having a first field of view and configured to acquire a first image relative to a scene associated with the vehicle, the first image being acquired as a first series of image scan lines captured using a rolling shutter. The imaging system may also include a second image capture device having a second field of view different from the first field of view and that at least partially overlaps the first field of view, the second image capture device being configured to acquire a second image relative to the scene associated with the vehicle, the second image being acquired as a second series of image scan lines captured using a rolling shutter. As a result of overlap between the first field of view and the second field of view, a first overlap portion of the first image corresponds with a second overlap portion of the second image. The first image capture device has a first scan rate associated with acquisition of the first series of image scan lines that is different from a second scan rate associated with acquisition of the second series of image scan lines, such that the first image capture device acquires the first overlap portion of the first image over a period of time during which the second overlap portion of the second image is acquired.

公开(公告)号：US10696227B2

公开(公告)日：2020-06-30

申请号：US15868569

申请日：2018-01-11

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein

IPC: B60R1/00 ,  B60G17/0165 ,  B60W30/02 ,  B60W30/12 ,  B60W10/20 ,  B60W40/064 ,  B60W40/06 ,  B60W30/14 ,  G06K9/00 ,  B60W10/04 ,  B60W10/22 ,  G06N3/04 ,  B60W30/18 ,  B60W50/00 ,  G01C21/34

Abstract: Systems and methods are provided for determining a road surface characteristic. In one implementation, a system includes at least one processing device programmed to receive, from at least one camera, at least two images representative of an environment of a vehicle; align at least a portion of the at least two images using estimated motion of the vehicle; provide, to a trained system configured to determine a characteristic of the road surface, at least the aligned portions of the at least two images; receive, from the trained system, the determined characteristic of the road surface; and provide, to a vehicle control system, based on at least the determined characteristic of the road surface, control information for changing at least one setting of the vehicle control system.

公开(公告)号：US10579885B2

公开(公告)日：2020-03-03

申请号：US15890807

申请日：2018-02-07

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein ,  Erez Dagan ,  Ofer Mano ,  Amnon Shashua

IPC: G06K9/00 ,  G06T7/33 ,  G06T7/73 ,  G06T7/246 ,  G08G1/16 ,  B60Q9/00 ,  B60T7/22

Abstract: A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.

公开(公告)号：US20200062264A1

公开(公告)日：2020-02-27

申请号：US16667884

申请日：2019-10-29

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag

IPC: B60W40/06 ,  G06T7/55 ,  B60T8/172 ,  G06T3/40 ,  G06K9/46 ,  B62D15/02 ,  G05D1/02 ,  B60G17/018 ,  B60W50/00 ,  G06K9/00

Abstract: Systems and methods are provided for determining a road profile along a predicted path. In one implementation, a system includes at least one image capture device configured to acquire a plurality of images of an area in a vicinity of a user vehicle; a data interface; and at least one processing device configured to receive the plurality of images captured by the image capture device through the data interface; and compute a profile of a road along one or more predicted paths of the user vehicle. At least one of the one or more predicted paths is predicted based on image data.

公开(公告)号：US10513269B2

公开(公告)日：2019-12-24

申请号：US15891365

申请日：2018-02-07

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag

IPC: B60W40/06 ,  B60W50/00 ,  B62D15/02 ,  B60G17/018 ,  G05D1/02 ,  G06K9/46 ,  G06T3/40 ,  B60T8/172 ,  G06T7/55 ,  G06K9/00

Abstract: Systems and methods are provided for determining a road profile along a predicted path. In one implementation, a system includes at least one image capture device configured to acquire a plurality of images of an area in a vicinity of a user vehicle; a data interface; and at least one processing device configured to receive the plurality of images captured by the image capture device through the data interface; and compute a profile of a road along one or more predicted paths of the user vehicle. At least one of the one or more predicted paths is predicted based on image data.