Detection of Lane Conditions in an Adaptive Cruise Control System

Abstract

Methods and apparatuses for detecting vehicle lane conditions in an adaptive cruise control system are disclosed. An example vehicle includes a communication module for V2V communication, a camera for capturing images, and a controller. The controller identifies a vehicle type of a vehicle ahead based on the image and determines a speed of the vehicle ahead. The controller also sends an alert to the vehicle ahead via the communication module in response to determining that the vehicle ahead is a passenger vehicle and that the speed of the vehicle ahead is less than a speed setting of an activated adaptive cruise control.

Description

Technical Field

[0001] The present disclosure generally relates to cruise control systems and, more particularly, to the detection of lane conditions in an adaptive cruise control system. Background Art

[0002] Generally, vehicles include cruise control devices, systems, and / or software that perform automatic and / or semi-automatic vehicle power functions. Typically, a cruise control system enables an operator (e.g., a driver) of a vehicle to set a target driving speed of the vehicle. Once a setting is received from the vehicle operator, the cruise control system autonomously controls the speed at which the vehicle travels to the target speed. Recently, some vehicles include adaptive cruise control devices, systems, and / or software that autonomously decelerate the vehicle from the target speed once it detects that the vehicle is approaching an object (e.g., a slower moving vehicle). Summary of the Invention

[0003] The appended claims define the application. The present disclosure summarizes aspects of the embodiments and should not be used to limit the claims. Other embodiments are contemplated in accordance with the techniques described herein, as will be apparent to those of ordinary skill in the art upon study of the following drawings and detailed description, and these embodiments are intended to fall within the scope of this application.

[0004] An example embodiment for detecting lane conditions in an adaptive cruise control system is shown. The example disclosed vehicle includes a communication module for V2V communication, a camera for capturing images, and a controller. The controller identifies the vehicle type of a vehicle ahead based on the image and determines the speed of the vehicle ahead. The controller also sends an alert to the vehicle ahead via the communication module in response to determining that the vehicle ahead is a passenger vehicle and the speed of the vehicle ahead is less than the speed setting for activated adaptive cruise control.

[0005] The example disclosed method includes capturing an image via a camera and identifying the vehicle type of a vehicle ahead based on the image via a processor. The example disclosed method also includes determining the speed of the vehicle ahead via the processor. The example disclosed method also includes sending an alert to the vehicle ahead via V2V communication in response to determining that the vehicle ahead is a passenger vehicle and the speed of the vehicle ahead is less than the effective speed setting for adaptive cruise control.

[0006] According to the present invention, there is provided a vehicle, comprising:

[0007] A communication module for V2V communication;

[0008] A camera for capturing images;

[0009] A controller configured to perform the following operations:

[0010] Identifying the vehicle type of a vehicle ahead based on the image;

[0011] Determine the speed of the vehicle ahead; and

[0012] In response to the determination, send an alert to the vehicle ahead via the communication module,

[0013] The determination includes:

[0014] The vehicle ahead is a passenger vehicle; and

[0015] The speed of the vehicle ahead is less than the speed setting of the activated adaptive cruise control.

[0016] According to one embodiment of the present invention, wherein in response to determining that the vehicle ahead is a semi-truck or an emergency vehicle, the controller does not send the alert to the vehicle ahead.

[0017] According to one embodiment of the present invention, wherein before sending the alert to the vehicle ahead, the controller determines that the speed of the vehicle ahead is continuously less than the speed setting for a predetermined period of time.

[0018] According to one embodiment of the present invention, the vehicle further includes an ECU that executes the adaptive cruise control when the adaptive cruise control is activated, and the ECU limits the speed setting to a speed less than or equal to the current speed limit.

[0019] According to one embodiment of the present invention, wherein the controller determines the speed of the vehicle ahead based on the image captured by the camera.

[0020] According to one embodiment of the present invention, wherein the communication module receives the speed of the vehicle ahead from the controller.

[0021] According to one embodiment of the present invention, the vehicle further includes a proximity sensor for detecting the vehicle ahead, wherein the controller determines the speed of the vehicle ahead via data collected by the proximity sensor.

[0022] According to one embodiment of the present invention, wherein the controller is configured to perform the following operations:

[0023] Determine the traffic speed of the adjacent driving lane; and

[0024] In response to determining that the speed of the vehicle ahead is less than the speed setting, compare the traffic speed with the speed of the vehicle ahead.

[0025] According to one embodiment of the present invention, wherein the controller is configured to perform the following operations:

[0026] Identify the lane type of the current driving lane; and

[0027] In response to determining that the speed of the vehicle ahead is less than the set speed, determine whether the lane type corresponds to an overtaking condition.

[0028] According to one embodiment of the present invention, wherein the controller sends a signal for overtaking the vehicle ahead in response to the following determination, the determination includes:

[0029] The traffic speed is greater than the speed of the vehicle ahead; and

[0030] The lane type of the current driving lane corresponds to an overtaking condition.

[0031] According to one embodiment of the present invention, wherein the no-overtaking condition includes that the lane type is at least one of a no-overtaking area, a merging lane, a diverging lane, and a residential area lane.

[0032] According to one embodiment of the present invention, the vehicle further includes a display, and the display presents an indication for changing lanes to the adjacent lane once it receives a signal from the controller.

[0033] According to one embodiment of the present invention, the vehicle further includes an ECU, and the ECU autonomously changes lanes to the adjacent lane once it receives the signal from the controller.

[0034] According to one embodiment of the present invention, wherein the controller determines the lane type and the traffic speed via at least one of V2V communication, V2X communication, a navigation map system, the camera, a side camera, and one or more proximity sensors.

[0035] According to one embodiment of the present invention, wherein the controller determines the lane type based on the image captured by the camera, and the image indicates at least one of the lane markings of the road and the turning signal state of the vehicle ahead.

[0036] According to the present invention, there is provided a method, including:

[0037] Capturing an image via a camera;

[0038] Identifying the vehicle type of the vehicle ahead via a processor based on the image;

[0039] Determining the speed of the vehicle ahead via the processor; and

[0040] In response to the following determination, sending an alert to the vehicle ahead via V2V communication, the determination includes:

[0041] The vehicle ahead is a passenger vehicle; and

[0042] The speed of the vehicle ahead is less than the effective speed setting of the adaptive cruise control.

[0043] According to one embodiment of the present invention, the method further includes:

[0044] Identifying the lane type of the current driving lane;

[0045] Determining the traffic speed of the adjacent lane; and

[0046] Sending a signal for overtaking the vehicle ahead in response to the following determination, the determination including:

[0047] The traffic speed is greater than the speed of the vehicle ahead; and

[0048] The lane type of the current driving lane corresponds to an overtaking condition.

[0049] According to one embodiment of the present invention, the no-overtaking condition includes that the lane type is at least one of a residential area lane, a no-overtaking area, a merging lane, and a diverging lane.

[0050] According to one embodiment of the present invention, the method further includes presenting an indication to change lanes into the adjacent lane via a display once the signal is received.

[0051] According to one embodiment of the present invention, the method further includes automatically changing lanes into the adjacent lane via an ECU once the signal is received. Description of the Drawings

[0052] To better understand the present invention, reference may be made to the embodiments shown in the following drawings. The components in the drawings are not necessarily drawn to scale, and related elements may be omitted, or in some cases the scale may be exaggerated to emphasize and clearly illustrate the novel features described herein. Additionally, as is known in the art, the system components may be arranged differently. Further, in the drawings, the same reference numerals denote corresponding parts in several views.

[0053] Figure 1 An exemplary vehicle according to the teachings herein is shown;

[0054] Figure 2 Shown is Figure 1 the vehicle approaching a slow vehicle ahead under overtaking conditions;

[0055] Figure 3 Shown is Figure 1 the vehicle approaching a slow vehicle ahead under no-overtaking conditions;

[0056] Figure 4 Is Figure 1 a block diagram of the electronic components of the vehicle;

[0057] Figure 5 is a flowchart for detecting an overtaking condition when engaging adaptive cruise control in accordance with the teachings of the present document. Detailed Description

[0058] While the present invention may be embodied in various forms, some exemplary and non - limiting embodiments are shown in the drawings and will be described below. It should be understood that the present disclosure is considered an example of the present invention and is not intended to limit the present invention to the specific embodiments shown.

[0059] Generally, a vehicle includes cruise control, where the vehicle autonomously controls the speed at which the vehicle travels. Generally, a cruise control system enables an operator (e.g., a driver) of the vehicle to set a target travel speed of the vehicle. Once a setting is received from the vehicle operator, the vehicle autonomously controls the vehicle travel speed to the target speed. As used herein, "cruise control" refers to a device, system, software, and / or setting that enables a vehicle to travel autonomously and / or semi - autonomously at a target speed set by the operator of the vehicle. Recently, some vehicles include adaptive cruise control, where the vehicle autonomously decelerates from the target speed once it detects that the vehicle is approaching an object. As used herein, it refers to a device, system, software, and / or setting that enables a vehicle to travel autonomously and / or semi - autonomously at a target speed set by the operator of the vehicle and enables the vehicle to autonomously and / or semi - autonomously decelerate once it detects that the vehicle is approaching another object (e.g., a slower - moving vehicle). In some cases where adaptive cruise control is activated, the vehicle approaches a vehicle that has been traveling at a speed lower than the vehicle's target speed.

[0060] The exemplary methods and devices disclosed herein facilitate a vehicle with activated adaptive cruise control to detect and overtake a slower - moving vehicle ahead. The examples disclosed herein include a vehicle incorporating adaptive cruise control. When adaptive cruise control is activated, the vehicle's controller detects (e.g., via a camera recognition system, an electronic mapping system) whether it is traveling behind a vehicle ahead that is slower than the target speed setting of the adaptive cruise control. If the vehicle ahead is traveling below the target speed setting (e.g., continuously for a predetermined period of time), the controller determines (e.g., via a camera, V2V communication, V2X communication, etc.) the vehicle type or classification of the vehicle ahead. If the vehicle ahead is not a semi - truck, an emergency vehicle (e.g., a police car, a fire truck), etc. and / or other vehicles that need to travel at a slower speed, the controller sends an alert (e.g., via V2V communication) to the vehicle ahead indicating that it is traveling slowly.

[0061] Additionally or alternatively, if the lead vehicle is traveling below a target speed setting, the controller determines the speed of traffic in an adjacent lane (e.g., via a camera, sensors, V2V communication, V2X communication, a navigation system, etc.). If the speed of traffic in the adjacent lane is greater than the speed of the vehicle, the controller determines (e.g., via a camera, proximity sensors, V2V communication, V2X communication, a navigation system, etc.) whether the lead vehicle is merging, exiting within a no passing zone, in a residential area, and / or any other no passing condition. If the vehicle is in an overtaking condition of the road (e.g., the lead vehicle is traveling along a road and / or highway and is not merging, exiting, etc. in a no passing zone), the controller sends a signal to change lanes to the adjacent lane. For example, the signal sent by the controller causes the display to present an indication to change lanes to the adjacent lane to the driver and / or causes the electronic control unit of the vehicle to automatically change lanes to the adjacent lane.

[0062] As used herein, an "overtaking condition" refers to a road condition of at least a portion of a road that permits a vehicle to pass a vehicle in an adjacent lane (e.g., when traveling on a road and / or highway). As used herein, a "no passing condition" refers to a road condition of at least a portion of a road that does not permit a vehicle to pass a vehicle in an adjacent lane. Example no passing conditions include no passing zones, merge lanes (e.g., on-ramps), diverge lanes (e.g., off-ramps), construction areas, residential areas, etc.

[0063] Turning to the drawings, Figure 1 illustrated is an example vehicle 100 in accordance with the teachings herein. The vehicle 100 can be a standard gasoline-powered vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, and / or any other motorized type of vehicle. The vehicle 100 includes components related to mobility, such as a powertrain having an engine, a transmission, a suspension, a drive shaft, and / or wheels, etc. The vehicle 100 can be non-autonomous, semi-autonomous (e.g., some example power functions are controlled by the vehicle 100), or autonomous (e.g., power functions are controlled by the vehicle 100 without direct driver input).

[0064] In the illustrated example, the vehicle 100 includes a combination meter output 102, a display 104, and a speaker 106. For example, the combination meter output 102 presents indications (e.g., low tire pressure indication, check engine indication, change lane indication, etc.) to provide instructions and / or other information to the driver of the vehicle 100. The display 104 (e.g., a touch screen) presents visual signals to the occupants of the vehicle 100 for providing information and / or entertainment purposes, and the speaker 106 presents audio signals to the occupants of the vehicle 100 for providing information and / or entertainment purposes.

[0065] As Figure 1As shown, the vehicle further includes a Global Positioning System (GPS) receiver 108, a vehicle speed sensor 110, a communication module 112 (e.g., a first communication module), and a communication module 114 (e.g., a second communication module). The GPS receiver 108 receives signals from the Global Positioning System to identify the position of the vehicle 100. In addition, the vehicle speed sensor 110 detects the speed at which the vehicle 100 is traveling.

[0066] The communication module 112 is a dedicated short-range communication (DSRC) module, an infrastructure-based module, and a mobile device-based module. The dedicated short-range communication (DSRC) module includes an antenna, radio, and software for broadcasting messages and establishing connections between the vehicle 100 and other vehicles (e.g., Figure 2 the vehicle 206 in front, Figure 2 the vehicle 208). For example, the communication module 112 is configured to communicate with other vehicles via vehicle-to-vehicle (V2V) communication and / or communicate with infrastructure-based modules via vehicle-to-infrastructure (V2X) communication.

[0067] More information about DSRC networks and how the networks communicate with vehicle hardware and software can be obtained from the U.S. Department of Transportation's June 2011 Core System Requirements Specification (SyRS) report (available at http: / / www.its.dot.gov / meetings / pdf / CoreSystem_SE_SyRS_RevA%20(2011-06-13).pdf), the entire contents of which, as well as all documents cited in pages 11 through 14 of the SyRS report, are incorporated herein by reference. DSRC systems can be installed on vehicles and on roadside infrastructure. DSRC systems that contain infrastructure information are referred to as "roadside" systems. DSRC can be combined with other technologies such as the Global Positioning System (GPS), visible light communication (VLC), cellular communication, and short-range radar to facilitate vehicles communicating their position, speed, direction of travel, relative position to other objects, and exchanging information with other vehicles or external computer systems. DSRC systems can be integrated with other systems such as mobile phones.

[0068] Currently, DSRC networks are identified by the DSRC abbreviation or name. However, other names are sometimes used, typically associated with vehicle networking programs and the like. Most of these systems are variants of pure DSRC or the IEEE 802.11 wireless standard. However, in addition to pure DSRC systems, it is also intended to cover dedicated wireless communication systems between vehicles and roadside infrastructure systems that are integrated with GPS and are based on the IEEE 802.11 protocol for wireless local area networks (e.g., 802.11p, etc.).

[0069] The communication module 114 of the illustrated example includes a wired or wireless network interface to enable communication with an external network. The communication module 114 also includes hardware (such as a processor, memory, storage device, antenna, etc.) and software for controlling the wired or wireless network interface. In the illustrated example, the communication module 114 includes one or more communication controllers for cellular networks (such as Global System for Mobile Communications (GSM), Universal Mobile Telecommunications System (UMTS), Long Term Evolution (LTE), Code Division Multiple Access (CDMA)) and / or other standards-based networks (such as WiMAX (IEEE 802.16m for Worldwide Interoperability for Microwave Access); Near Field Communication (NFC), local wireless networks (including IEEE 802.11a / b / g / n / ac or others), Wireless Gigabit (IEEE 802.11ad), etc.). In some examples, the communication module 114 includes a wired or wireless interface (such as an auxiliary port, Universal Serial Bus (USB) port, wireless node, etc.) to communicatively connect with a mobile device (such as a smart phone, wearable device, smart watch, tablet, etc.). In such an example, the vehicle 100 can communicate with an external network via the connected mobile device. The external network can be a public network, such as the Internet; a private network, such as an intranet; or a combination thereof, and can utilize various network protocols available now or developed in the future, including but not limited to TCP / IP-based network protocols.

[0070] As Figure 1As shown, vehicle 100 also includes a camera 116 (e.g., a front camera, a first camera), a proximity sensor 118 (e.g., a front proximity sensor, a first proximity sensor), one or more cameras 120 (e.g., side cameras, second cameras), and one or more proximity sensors 122 (e.g., side proximity sensors, second proximity sensors). Camera 116 captures images and / or videos of the surrounding area in front of vehicle 100, and cameras 120 capture images and / or videos of the surrounding area to the sides of vehicle 100. For example, the images and / or videos captured by camera 116 and / or one or more cameras 120 are presented to the occupants of vehicle 100 (e.g., via display 104) and / or used to facilitate the execution of autonomous and / or semi-autonomous driving maneuvers of vehicle 100. Additionally, proximity sensor 118 monitors the surrounding area in front of vehicle 100, and proximity sensors 122 monitor the surrounding area to the sides of vehicle 100. Proximity sensor 118 and proximity sensors 122 collect data for detecting and identifying the positions of objects near vehicle 100. Proximity sensor 118 and / or one or more proximity sensors 122 include radar sensors, lidar sensors, ultrasonic sensors, and / or any other proximity sensors that detect the presence and position of nearby objects. For example, radar sensors detect and locate objects via radio waves, lidar sensors detect and locate objects via lasers, and ultrasonic sensors detect and locate objects via ultrasonic waves.

[0071] The illustrated example of vehicle 100 also includes a lane condition controller 124. Lane condition controller 124 monitors the condition of the lane (e.g., Figure 2 lane 200) of the road on which vehicle 100 is traveling when the adaptive cruise control of vehicle 100 is activated (e.g., Figure 2 lane 202, Figure 2 lane 204). For example, one or more electronic control units (ECUs) of vehicle 100 perform the autonomous and / or semi-autonomous power functions of the adaptive cruise control of vehicle 100. When the adaptive cruise control is activated, lane condition controller 124 determines whether vehicle 100 is in front of a vehicle (e.g., Figure 2travels behind the leading vehicle 206). If the leading vehicle travels below the speed setting (e.g., continuously travels for a predetermined time period), then if the leading vehicle is a passenger vehicle (i.e., not a semi-truck, emergency vehicle, and / or other vehicle that needs to travel at a slower speed than vehicle 100), the lane condition controller 124 sends an alert to the leading vehicle (e.g., via V2V communication). Additionally or alternatively, if the leading vehicle travels below the target speed setting, the lane condition controller 124 determines whether vehicle 100 can change lanes to pass the slow leading vehicle. If vehicle 100 can change lanes, the lane condition controller 124 sends a signal to change lanes to an adjacent lane. For example, the signal sent by the lane condition controller 124 causes an instruction to change lanes to be presented (e.g., via the combined instrument output 102, the display 104, the speaker 106, etc.) to the operator of vehicle 100 and / or causes the ECU (e.g., Figure 4 the autonomous unit 418 of Figure 4 the speed control unit 420 of Figure 4 the braking control module 422 of

[0072] Figure 2 Vehicle 100 traveling along road 200 in lane 202 is shown. As Figure 2 shown, road 200 includes lane 202 and another lane 204 adjacent to lane 202, each lane for vehicles to travel in the same direction therein. Vehicle 100 travels in lane 202 behind the leading vehicle 206 under overtaking conditions. Additionally, other vehicle 208 travels in lane 204 adjacent to vehicle 100.

[0073] In the example shown, the adaptive cruise control of vehicle 100 is activated. When the adaptive cruise control is activated, the lane condition controller 124 of vehicle 100 identifies whether vehicle 100 is traveling behind a leading vehicle. For example, in Figure 2 it, the lane condition controller 124 detects that vehicle 100 is traveling behind the leading vehicle 206. Once the presence of the leading vehicle 206 is identified, the lane condition controller 124 of vehicle 100 determines whether the leading vehicle 206 is traveling at a speed smaller and / or slower than the speed setting of the adaptive cruise control of vehicle 100.

[0074] The speed setting of vehicle 100 is the maximum speed at which the adaptive cruise control is set to make vehicle 100 travel. Before the adaptive cruise control is activated, the operator of vehicle 100 sets the speed setting of the adaptive cruise control. In some examples, the ECU that executes the adaptive cruise control (e.g., Figure 4 the autonomous unit 418 of Figure 4 the speed control unit 420 of Figure 4The braking control module 422) sets the speed limit to a speed less than or equal to the current speed limit of the road 200 for the vehicle 100. For example, the lane condition controller 124 and / or the ECU of the vehicle 100 determine the current speed limit of the road 200 for the vehicle 100 based on the roadside signs 210 of the road 200, and the roadside signs 210 are included in the images and / or videos captured by the camera 116 and / or one or more cameras 120 of the vehicle 100. For example, the vehicle 100 includes an image recognition system and / or software that enables the lane condition controller 124 and / or the ECU to determine the speed limit identified on the roadside signs 210. Additionally or alternatively, the lane condition controller 124 and / or the ECU determine the current speed limit of the road 200 via a navigation system. For example, the vehicle 100 includes an in-vehicle navigation system and / or communicates with the navigation system via the communication module 114.

[0075] In addition, before comparing the speed setting of the vehicle 100 with the speed of the vehicle ahead 206, the lane condition controller 124 of the vehicle 100 determines the speed of the vehicle ahead 206. For example, the lane condition controller 124 detects the speed of the vehicle ahead 206 based on the images and / or videos captured by the camera 116 and / or the data collected by the proximity sensor 118. That is, the proximity sensor 118 collects data that enables the lane condition controller 124 to detect the presence of the vehicle ahead 206 and determine the speed of the vehicle ahead 206. Additionally or alternatively, the lane condition controller 124 detects the speed of the vehicle ahead 206 via V2V communication and / or V2X communication received by the communication module 112. For example, the communication module 112 receives the speed of the vehicle ahead 206 from the communication module 212 (e.g., DSRC module) of the vehicle ahead 206, the communication module 214 (e.g., DSRC module) of the vehicle 208, the communication module (e.g., DSRC module) of the infrastructure device (e.g., roadside sign 210), etc.

[0076] In some examples, the lane condition controller 124 compares the speed of the vehicle ahead and the speed setting over a predetermined time period to determine whether the vehicle ahead 206 is traveling at a slower speed than the speed setting of the adaptive cruise control of vehicle 100. That is, if the lane condition controller 124 determines that the speed of the vehicle ahead is continuously less than the speed setting of vehicle 100 during the duration of the predetermined time period, the lane condition controller 124 determines that the vehicle ahead 206 is traveling at a slower speed than the speed setting of the adaptive cruise control of vehicle 100. For example, when the speed of the vehicle ahead is initially detected to be less than the speed setting, the lane condition controller 124 starts a timer to count up to a time threshold. If the speed of the vehicle ahead remains less than the speed setting until the time threshold is met, the lane condition controller 124 determines that the vehicle ahead 206 is traveling at a slower speed than the speed setting of vehicle 100. The lane condition controller 124 compares the speeds over the predetermined time period and / or during the timer to account for situations where the vehicle ahead 206 is traveling at a speed slightly higher than, slightly lower than, and / or fluctuating around the speed setting of vehicle 100.

[0077] The lane condition controller 124 also determines the vehicle type of the vehicle ahead 206. That is, the lane condition controller 124 determines whether the vehicle ahead 206 is a passenger vehicle or a semi-truck, an emergency vehicle (e.g., police car, fire truck, etc.) and / or other types of vehicles that need to travel at a slower speed than vehicle 100. For example, the lane condition controller 124 detects the vehicle type of the vehicle ahead 206 based on the images and / or videos captured by the camera 116 and / or the data collected by the proximity sensor 118. Additionally or alternatively, the lane condition controller 124 detects the speed of the vehicle ahead 206 via vehicle-to-vehicle (V2V) communication and / or vehicle-to-everything (V2X) communication received by the communication module 112 (e.g., from the communication module 212 of the vehicle ahead 206, the communication module 214 of vehicle 208, an infrastructure-based DSRC module, etc.). In the example shown, the lane condition controller 124 sends an alert from the communication module 112 to the communication module 214 of the vehicle ahead 206 in response to determining (i) that the speed of the vehicle ahead 206 is less than the speed setting of vehicle 100 and (ii) that the vehicle ahead 206 is a passenger vehicle (i.e., not a semi-truck, an emergency vehicle, and / or other vehicle types that need to travel at a slower speed). For example, the alert indicates to the ECU operating the vehicle ahead 206 and / or the operator that the vehicle ahead 206 is traveling at a speed lower than the speed limit of road 200. Or, if the lane condition controller 124 determines that the vehicle ahead 206 is a semi-truck, an emergency vehicle, and / or other vehicle types that need to travel at a slower speed, the lane condition controller 124 does not send an alert to the vehicle ahead 206.

[0078] In the illustrated example, once it is determined that the speed of the vehicle ahead is less than the speed setting of vehicle 100, the lane condition controller 124 also determines the speed of traffic in lane 204 adjacent to lane 202 to identify whether vehicle 100 can overtake the vehicle ahead 206 via lane 204. In the illustrated example, the lane condition controller 124 determines the speed at which vehicle 208 is traveling in lane 204 adjacent to vehicle 100 to determine the traffic speed of lane 204. For example, the lane condition controller 124 determines the speed of traffic in lane 204 based on images and / or videos captured via camera 116, data collected by proximity sensor 118, images and / or videos captured via one or more cameras 120, data collected by one or more proximity sensors 122, etc. Additionally or alternatively, the lane condition controller 124 determines the traffic speed of traffic in lane 204 adjacent to vehicle 100 via V2V communication and / or V2X communication received by the communication module 112 of vehicle 100 (e.g., communication module 212 of the vehicle ahead 206, communication module 214 of vehicle 208, infrastructure-based DSRC module, etc.). Further, in some examples, the lane condition controller 124 collects the traffic speed of traffic in lane 204 from a navigation system (e.g., in-vehicle navigation system, external navigation system). Once the traffic speed of lane 204 is determined, the lane condition controller 124 compares the traffic speed of lane 204 with the speed of the vehicle ahead 206 of the vehicle ahead to determine whether the traffic speed of lane 204 enables vehicle 100 to overtake the vehicle ahead 206.

[0079] In addition, once it is determined that the speed of the vehicle ahead is less than the speed setting of vehicle 100, the lane condition controller 124 of the illustrated example also identifies the lane types of lane 202 (the currently traveled lane) and / or lane 204 (e.g., an adjacent lane) of road 200. In the illustrated example, the lane condition controller 124 determines the lane types of lane 202 and / or lane 204 of road 200 based on images and / or videos captured via camera 116, data collected by proximity sensor 118, images and / or videos captured via one or more cameras 120, data collected by one or more proximity sensors 122, etc. For example, camera 116, one or more proximity sensors 118, one or more cameras 120, and / or one or more proximity sensors 122 are configured to detect information included in roadside signs 210, lane markings 216 on road 200, and / or indicator lights (e.g., turn signals) of the vehicle ahead 206 and / or vehicle 100 indicating lane types. Additionally or alternatively, the lane condition controller 124 determines the lane types of lane 202 and / or lane 204 via V2V communication and / or V2X communication received by the communication module 112 of vehicle 100 (e.g., from the communication module 212 of the vehicle ahead 206, the communication module 214 of vehicle 208, an infrastructure-based DSRC module, etc.). Further, in some examples, the lane condition controller 124 determines the lane types of lane 202 and / or lane 204 from a navigation system (e.g., an in-vehicle navigation system, an external navigation system).

[0080] Once the lane types of lane 202 and / or lane 204 are identified, the lane condition controller 124 determines whether the lane type corresponds to an overtaking condition or a no-overtaking condition. Example lane types corresponding to the no-overtaking condition include residential area lanes, no-overtaking zones, merge lanes (e.g., entrance ramps), diverging lanes (e.g., exit ramps), etc. In some examples, the lane condition controller 124 is deactivated once it is determined that vehicle 100 is in a residential area and activated once it is determined that vehicle 100 is on a road and / or highway. In the illustrated example, the lane condition controller 124 determines that the lane type of the portion of road 200 on which vehicle 100 is traveling corresponds to an overtaking condition (e.g., on a road and / or highway). For example, the lane condition controller 124 determines that the lane type corresponds to an overtaking condition based on lane markings 216 of road 200, the turn signal states of the detected vehicle ahead 206 and / or vehicle 208, roadside signs 210, the navigation system, V2V communication, V2X communication, etc.

[0081] In addition, the lane condition controller 124 of the illustrated example sends a signal to change lanes into lane 204 to overtake the lead vehicle 206 in response to determining (i) that the traffic speed in lane 204 is greater than the lead vehicle speed of the lead vehicle 206 and (ii) that the lane types of lanes 202 and 204 of the road 200 correspond to an overtaking condition. For example, the combination meter output 102, the display 104, the speaker 106, and / or other output devices present an indication to the operator of the vehicle 100 to change lanes into lane 204 to overtake the lead vehicle 206 once the signal sent by the lane condition controller 124 is received. Additionally or alternatively, the ECU performs adaptive cruise control to autonomously drive the vehicle 100 into lane 204 to overtake the lead vehicle 206 once the signal sent by the lane condition controller 124 is received.

[0082] In some examples, the lane condition controller 124 also monitors the travel distance when the lead vehicle speed of the lead vehicle 206 is less than the speed setting of the vehicle 100, such as to account for when the vehicle 100 is at a red light and / or surrounded by congested traffic. For example, if the vehicle 100 has traveled a short distance (e.g., less than 1 meter) within a predetermined amount of time when the lead vehicle speed is less than the speed setting, the lane condition controller 124 determines that the vehicle 100 is at a red light and / or in congested traffic. In turn, the lane condition controller 124 does not send an alert to the lead vehicle 206 and / or send a signal to overtake the lead vehicle 206. If the vehicle 100 has traveled a greater distance (e.g., hundreds or thousands of meters) within a predetermined amount of time when the lead vehicle speed is less than the speed setting, the lane condition controller 124 determines that the vehicle 100 is traveling on a road and / or highway. In turn, the lane condition controller 124 sends an alert to the lead vehicle 206 and / or sends a signal to overtake the lead vehicle 206 once it determines that the lead vehicle speed is less than the speed setting.

[0083] Figure 3 The vehicle 100 approaching the lead vehicle 206 under a no-overtaking condition is shown. As Figure 3 shown, the road 300 includes a lane 302 and another lane 304 adjacent to lane 302, each lane for vehicles to travel in the same direction. In the illustrated example, the vehicle 100 travels in lane 302 as the lead vehicle 206, and the vehicle 208 travels in lane 304 adjacent to the vehicle 100.

[0084] In the illustrated example, the adaptive cruise control of the vehicle 100 is activated. When the adaptive cruise control is activated, the lane condition controller 124 of the vehicle 100 identifies that the vehicle 100 is traveling behind the lead vehicle 206. For example, the lane condition controller 124 detects that the vehicle 100 is Figure 2travels behind the lead vehicle 206. Once the presence of the lead vehicle 206 is recognized, the lane condition controller 124 of the vehicle 100 determines whether the speed of the vehicle in front of the lead vehicle 206 is less than and / or slower than the speed setting of the adaptive cruise control of the vehicle 100.

[0085] The lane condition controller 124 also determines the vehicle type of the lead vehicle 206. In the illustrated example, the lane condition controller 124 sends an alert from the communication module 112 to the communication module 214 of the lead vehicle 206 in response to determining (i) that the speed of the vehicle in front of the lead vehicle 206 is less than the speed setting of the vehicle 100 and (ii) that the lead vehicle 206 is a passenger vehicle (e.g., not a semi-truck, emergency vehicle, and / or other vehicle type that needs to travel at a slower speed). Alternatively, if the lane condition controller 124 determines that the lead vehicle 206 is a semi-truck, emergency vehicle, and / or other vehicle type that needs to travel at a slower speed, the lane condition controller 124 does not send an alert to the lead vehicle 206.

[0086] Once it is determined that the speed of the vehicle in front is less than the speed setting of the vehicle 100, the lane condition controller 124 of the illustrated example also identifies the lane type of the lane 302 (the currently traveled lane) and / or the lane 304 (e.g., an adjacent lane) of the road 300. In the illustrated example, the lane condition controller 124 determines the lane type of the lane 302 and / or the lane 304 of the road 300 based on images or videos captured by the camera 116, data collected by the proximity sensor 118, images and / or videos captured by one or more cameras 120, data collected by one or more proximity sensors 122, etc. That is, the camera 116, one or more proximity sensors 118, one or more cameras 120, and / or one or more proximity sensors 122 are configured to detect information included in the roadside signs 306 on the side of the road 300, lane markings 308, and / or indicator lights (e.g., turn signals) of the lead vehicle 206 and / or the vehicle 100 indicating the lane type. For example, the lane condition controller 124 detects that the lane 302 is merging into the lane 304 once it collects information included in the roadside sign 306, recognizes the lane markings 308 of the road 300, and / or detects that the left turn signal of the lead vehicle 206 is activated. Additionally or alternatively, the lane condition controller 124 determines the lane type of the lane 302 and / or the lane 304 via V2V communication and / or V2X communication received by the communication module 112 of the vehicle 100 (e.g., from the communication module 212 of the lead vehicle 206, the communication module 214 of the vehicle 208, an infrastructure-based DSRC module, etc.). Further, in some examples, the lane condition controller 124 collects the lane type of the lane 202 and / or the lane 204 from the navigation system.

[0087] In the illustrated example, the lane condition controller 124 determines that the lane type corresponds to a no-passing condition. That is, once it is recognized that the lane type of lane 302 is a merge lane (e.g., an on-ramp), the lane condition controller 124 determines that the lane type corresponds to a no-passing condition. Other examples of lane types corresponding to no-passing conditions include residential areas, no-passing zones, diverging lanes (e.g., off-ramps), etc. In response to determining that the lane type in which vehicle 100 is traveling corresponds to a no-passing condition, the lane condition controller 124 of the illustrated example does not send a signal to change lanes to pass the vehicle 206 ahead.

[0088] Figure 4 is a block diagram of the electronic component 400 of vehicle 100. As Figure 4 shown, the electronic component 400 includes an in-vehicle computing platform 402, an infotainment host unit 404, a GPS receiver 108, a communication module 112, a communication module 114, a camera 406, a sensor 408, an electronic control unit (ECU) 410, and a vehicle data bus 412.

[0089] The in-vehicle computing platform 402 includes a microcontroller unit, a controller, or a processor 414 and a memory 416. In some examples, the processor 414 of the in-vehicle computing platform 402 is configured to include the lane condition controller 124. Alternatively, in some examples, the lane condition controller 124 is incorporated into another electronic control unit (ECU) (e.g., an autonomous unit, a speed control unit, a brake control module) having its own processor 414 and memory 416. The processor 414 can be any suitable processing device or collection of processing devices, such as, but not limited to, a microprocessor, a microcontroller-based platform, an integrated circuit, one or more field programmable gate arrays (FPGAs), and / or one or more application specific integrated circuits (ASICs). The memory 416 can be a volatile memory (e.g., a RAM including non-volatile RAM, magnetic RAM, ferroelectric RAM, etc.), a non-volatile memory (e.g., disk memory, FLASH memory (flash memory), EPROM (erasable programmable read-only memory), EEPROM (electrically erasable programmable read-only memory), a memristor-based non-volatile solid state memory, etc.), a non-alterable memory (e.g., EPROM), a read-only memory, and / or a high-capacity storage device (e.g., a hard disk drive, a solid state drive, etc.). In some examples, the memory 416 includes multiple memories, particularly volatile memory and non-volatile memory.

[0090] The memory 416 is a computer-readable medium on which a set or sets of instructions, such as software for operating the methods of the present disclosure, can be embedded. The instructions can embody one or more of the methods or logics described herein. For example, during execution of the instructions, the instructions reside, completely or at least partially, within any one or more of the memory 416, the computer-readable medium, and / or the processor 414.

[0091] The terms “non-transitory computer-readable medium” and “computer-readable medium” include a single medium or multiple media, such as a centralized or distributed database and / or associated caches and servers storing one or more sets of instructions. Additionally, the terms “non-transitory computer-readable medium” and “computer-readable medium” include any tangible medium capable of storing, encoding, or carrying a set of instructions for execution by a processor or causing a system to perform one or more of the methods or operations disclosed herein. As used herein, the term “computer-readable medium” expressly defines to include any type of computer-readable storage device and / or storage disk and excludes propagated signals.

[0092] The infotainment host unit 404 provides an interface between the vehicle 100 and the user. The infotainment host unit 404 includes digital and / or analog interfaces (e.g., input devices and output devices) to receive input from the user and display information to the user. Input devices include, for example, control knobs, dashboards, digital cameras for image capture and / or visual command recognition, touchscreens, audio input devices (e.g., cabin microphones), buttons, or touchpads. Output devices can include the combination meter output 102, other instrument cluster outputs (e.g., dials, lighting devices), drivers, head-up displays, the display 104 (e.g., a central console display of a liquid crystal display (LCD), an organic light-emitting diode (OLED) display, a flat panel display, a solid state display, etc.), and / or the speaker 106. In the example shown, the infotainment host unit 404 includes the hardware (e.g., a processor or controller, memory, storage device, etc.) and software (e.g., an operating system, etc.) for an infotainment system (e.g., developed by developed by and MyFord ). Additionally, the infotainment host unit 404 displays the infotainment system on, for example, the display 104.

[0093] The camera 406 captures images and / or videos of the surrounding area of the vehicle 100. For example, in the illustrated example, the camera 406 includes the cameras 116 and 120 that capture images and / or videos of the surrounding area of the vehicle 100 to enable the lane condition controller 124 to determine the lane conditions in the surrounding area of the vehicle 100. Additionally, in some examples, the camera 406 captures images and / or videos presented to the occupants of the vehicle 100 (e.g., via the display 104) and / or for facilitating the execution of autonomous and / or semi-autonomous driving maneuvers of the vehicle 100.

[0094] The sensors 408 are arranged in and around the vehicle 100 to monitor the characteristics of the vehicle 100 and / or the environment in which the vehicle 100 is located. One or more sensors 408 can be installed to measure the characteristics surrounding the outside of the vehicle 100. Additionally or alternatively, one or more sensors 408 can be installed inside the passenger compartment of the vehicle 100 or inside the body of the vehicle 100 (e.g., engine compartment, wheel well, etc.) to measure the characteristics inside the vehicle 100. For example, the sensors 408 include accelerometers, odometers, tachometers, pitch and yaw sensors, wheel speed sensors, microphones, tire pressure sensors, biometric sensors, and / or any other suitable type of sensor. In the illustrated example, the sensors 408 include the vehicle speed sensor 110, the proximity sensor 118, and the proximity sensor 122.

[0095] The ECU 410 monitors and controls the subsystems of the vehicle 100. For example, the ECU 410 is a discrete electronic component that includes its own circuitry (e.g., integrated circuits, microprocessors, memories, storage devices, etc.) as well as firmware, sensors, drivers, and / or mounting hardware. The ECU 410 communicates and exchanges information via a vehicle data bus (e.g., the vehicle data bus 412). Additionally, the ECU 410 can attribute characteristics (e.g., the status of the ECU 410, sensor readings, control states, error and diagnostic codes, etc.) to each other and / or receive requests from each other. For example, the vehicle 100 can have seventy or more ECUs 410 located at various positions around the vehicle 100 and communicatively connected via the vehicle data bus 412.

[0096] In the illustrated example, the ECU 410 includes an autonomy unit 418, a speed control unit 420, and a brake control module 422. For example, the autonomy unit 418 controls the execution of autonomous and / or semi-autonomous driving maneuvers of the vehicle 100 based at least in part on images and / or video captured by one or more cameras 406 and / or data collected by one or more sensors 408. The speed control unit 420 autonomously controls the speed at which the vehicle 100 travels based at least in part on images and / or video captured by one or more cameras 406 and / or data collected by one or more sensors 408. Additionally, the brake control module 422 autonomously operates the brakes of the vehicle 100 based at least in part on images and / or video captured by one or more cameras 406 and / or data collected by one or more sensors 408.

[0097] The vehicle data bus 412 communicatively couples the GPS receiver 108, the communication modules 112, 114, the in-vehicle computing platform 402, the infotainment host unit 404, the cameras 406, the sensors 408, and the ECU 410. In some examples, the vehicle data bus 412 includes one or more data buses. The vehicle data bus 412 may be implemented according to the Controller Area Network (CAN) bus protocol defined by the International Organization for Standardization (ISO) 11898-1, the Media Oriented Systems Transport (MOST) bus protocol, the CAN Flexible Data (CAN-FD) bus protocol (ISO 11898-7), and / or the K-line bus protocol (ISO 9141 and ISO 14230-1) and / or the Ethernet TM bus protocol IEEE 802.3 (prior to 2002), etc.

[0098] Figure 5 is a flow chart of an example method 500 for detecting lane conditions when the adaptive cruise control of a vehicle is engaged. Figure 5 The flow chart represents machine-readable instructions stored in a memory (e.g., Figure 4 the memory 416) and including one or more programs that, when executed by a processor (e.g., Figure 4 the processor 414), cause the vehicle 100 to implement Figures 1 - 4 an example lane condition controller 124. Although the example program is described with reference to the flow chart shown in Figure 5 , many other methods for implementing the example lane condition controller 124 may alternatively be used. For example, the execution order of the boxes may be rearranged, changed, eliminated, and / or combined to perform the method 500. Additionally, since the method 500 is disclosed in connection with the components of Figures 1 - 4 , some functions of those components will not be described in detail below.

[0099] Initially, at block 502, the lane condition controller 124 determines whether adaptive cruise control is activated for the vehicle 100. In response to the lane condition controller 124 determining that adaptive cruise control is not activated, method 500 remains at block 502. Otherwise, in response to the lane condition controller 124 determining that adaptive cruise control is activated, method 500 proceeds to block 504. At block 504, the lane condition controller 124 determines the speed setting of the adaptive cruise control of the vehicle 100.

[0100] At block 506, the lane condition controller 124 determines whether a lead vehicle (e.g., lead vehicle 206) is detected. For example, the lane condition controller 124 detects the lead vehicle 206 via the camera 116, proximity sensor 118, V2V and / or V2X communications received by the communication module 112, etc. In response to the lane condition controller 124 not detecting the lead vehicle 206, method 500 returns to block 502. Otherwise, in response to the lane condition controller 124 detecting the presence of the lead vehicle 206, method 500 proceeds to block 508, where the lane condition controller 124 determines the speed of the lead vehicle of the lead vehicle 206. For example, the lane condition controller 124 detects the lead vehicle speed via the camera 116, proximity sensor 118, V2V and / or V2X communications received by the communication module 112, etc. At block 510, the lane condition controller 124 determines whether the speed setting of the adaptive cruise control of the vehicle 100 is greater than the speed of the lead vehicle of the lead vehicle 206. In response to the lane condition controller 124 determining that the speed setting is not greater than the lead vehicle speed, method 500 returns to block 502. Otherwise, in response to the lane condition controller 124 determining that the speed setting is greater than the lead vehicle speed, method 500 proceeds to block 512.

[0101] At block 512, the lane condition controller 124 identifies the current driving lane (e.g., Figure 2 lane 202 of road 200, Figure 3 lane 302 of road 300) of the road (e.g., Figure 2 lane 202 of Figure 3 and / or an adjacent lane (e.g., Figure 2 lane 204 of Figure 3Lane 304). For example, the lane condition controller 124 identifies the lane type to determine whether the road section where the vehicle 100 is located is in an overtaking condition or a no-overtaking condition. Example lane types include residential area lanes, overtaking areas, no-overtaking areas, merging lanes, diverging lanes, etc. The lane condition controller 124 is used to identify the lane type via the camera 116, proximity sensor 118, one or more cameras 120, one or more proximity sensors 122, V2V and / or V2X communications received by the communication module 112, the navigation system, etc. At block 514, the lane condition controller 124 determines whether the vehicle 100 is in a position to change lanes based on the lane type. For example, if the road section where the vehicle 100 is located is in an overtaking condition, then the vehicle 100 is in a position to change lanes, and if the road section where the vehicle 100 is located is in a no-overtaking condition, then the vehicle 100 is not in a position to change lanes. In response to the lane condition controller 124 determining that the vehicle 100 is not in a position to change lanes, method 500 proceeds to block 526. Otherwise, in response to the lane condition controller 124 determining that the vehicle 100 is in a position to change lanes, method 500 proceeds to block 516.

[0102] At block 516, the lane condition controller 124 identifies the traffic speed of the traffic in the adjacent lane. For example, the lane condition controller 124 identifies the traffic speed via the camera 116, proximity sensor 118, one or more cameras 120, one or more proximity sensors 122, V2V and / or V2X communications received by the communication module 112, the navigation system, etc. At block 518, the lane condition controller 124 determines whether the traffic speed is greater than the speed of the vehicle ahead of the vehicle 206. In response to the lane condition controller 124 determining that the traffic speed is not greater than the speed of the vehicle ahead, method 500 proceeds to block 526. Otherwise, in response to the lane condition controller 124 determining that the traffic speed is greater than the speed of the vehicle ahead, method 500 proceeds to block 520.

[0103] At block 520, the lane condition controller 124 instructs (e.g., via the combined instrument output 102, the display 104, the speaker 106, etc.) the driver and / or operator of the vehicle 100 to change lanes. At block 522, the lane condition controller 124 causes the ECU that controls the adaptive cruise control to autonomously drive the vehicle 100 to change lanes into the adjacent vehicle to overtake the vehicle 206 ahead. For example, the lane condition controller 124 sends a signal such that the instruction is presented and / or causes an autonomous lane change.

[0104] At block 524, the lane condition controller 124 identifies the vehicle type of the vehicle 206 ahead. For example, the lane condition controller 124 identifies the vehicle type via the camera 116, the proximity sensor 118, V2V and / or V2X communications received by the communication module 112. At block 526, the lane condition controller 124 determines whether the vehicle 206 ahead is a semi-truck, an emergency vehicle, and / or another type of vehicle that needs to travel at a speed slower than the speed limit of the vehicle 100. In response to the lane condition controller 124 determining that the vehicle 206 ahead is a semi-truck, an emergency vehicle, and / or another vehicle type that needs to travel at a slower speed, the method returns to block 502. Otherwise, in response to the lane condition controller 124 determining that the vehicle 206 ahead is a passenger vehicle, the method proceeds to block 528, where the lane condition controller 124 sends an alert indicating that the vehicle 206 ahead is driving slowly to the vehicle 206 ahead via V2V communication.

[0105] In this application, the use of the disjunctive connective is intended to include the conjunctive. The use of the definite or indefinite article is not intended to indicate cardinality. In particular, the reference to "the" object or "a" and "an" object is also intended to denote one of the possible multiple such objects. Additionally, the connective "or" can be used to convey features that exist simultaneously rather than mutually exclusive alternatives. In other words, the connective "or" should be understood to include "and / or". The term "comprising" is inclusive and has the same scope as "including". Additionally, as used herein, the terms "module" and "unit" refer to hardware having circuitry that typically provides communication, control, and / or monitoring capabilities in conjunction with a sensor. "Module" and "unit" can also include firmware executed on the circuitry.

[0106] The above embodiments, especially any "preferred" embodiments, are possible examples of implementations and are presented merely to clearly understand the principles of the present invention. Many variations and modifications can be made to the above embodiments without substantially departing from the spirit and principles of the technology described herein. All modifications are intended to be included within the scope of the present disclosure and are protected by the appended claims.

Claims

1. A vehicle, comprising: a communication module for V2V communication; a camera for capturing images; a controller configured to perform the following operations: recognize the vehicle type of a vehicle ahead based on the image; determine the speed of the vehicle ahead; and in response to the following determination, send an alert to the vehicle ahead via the communication module, the determination including: the vehicle ahead is a passenger vehicle; and the speed of the vehicle ahead is less than the speed setting of the activated adaptive cruise control; wherein the controller determines that the speed of the vehicle ahead has been continuously less than the speed setting for a predetermined period before sending the alert to the vehicle ahead.

2. The vehicle according to claim 1, wherein the controller does not send the alert to the vehicle ahead in response to determining that the vehicle ahead is a semi-truck or an emergency vehicle.

3. The vehicle according to claim 1, wherein the controller determines the speed of the vehicle ahead based on the image captured by the camera.

4. The vehicle according to claim 1, wherein the communication module receives the speed of the vehicle ahead from the controller.

5. The vehicle according to claim 1, further comprising a proximity sensor for detecting the vehicle ahead, wherein the controller determines the speed of the vehicle ahead via data collected by the proximity sensor.

6. The vehicle according to claim 1, wherein the controller is configured to perform the following operations: determine the traffic speed of an adjacent lane; in response to determining that the speed of the vehicle ahead is less than the speed setting, compare the traffic speed with the speed of the vehicle ahead; identify the lane type of the current driving lane; and in response to determining that the speed of the vehicle ahead is less than the speed setting, determine whether the lane type corresponds to an overtaking condition.

7. The vehicle according to claim 6, wherein the controller sends a signal for overtaking the vehicle ahead in response to the following determination, the determination including: the traffic speed is greater than the speed of the vehicle ahead; and the lane type of the current driving lane corresponds to an overtaking condition.

8. The vehicle according to claim 7, wherein the no-overtaking conditions include that the lane type is at least one of a no-overtaking area, a merging lane, a diverging lane, and a residential area lane.

9. The vehicle according to claim 7, further comprising a display that presents an indication for changing lanes to the adjacent lane once receiving the signal from the controller.

10. The vehicle according to claim 7, further comprising an ECU that autonomously changes lanes to the adjacent lane once receiving the signal from the controller.

11. The vehicle according to claim 6, wherein the controller determines the lane type and the traffic speed via at least one of V2V communication, V2X communication, a navigation map system, the camera, a side camera, and one or more proximity sensors.

12. The vehicle according to claim 6, wherein the controller determines the lane type based on the image captured by the camera, the image indicating at least one of lane markings of a road and a turn signal state of the vehicle ahead.

13. A method for a vehicle, comprising: capturing an image via a camera; identifying, via a processor, a vehicle type of a vehicle ahead based on the image; determining, via the processor, a speed of the vehicle ahead; and sending an alert to the vehicle ahead via V2V communication in response to a determination comprising: the vehicle ahead being a passenger vehicle; and the speed of the vehicle ahead being less than an effective speed setting of an adaptive cruise control, wherein, before sending the alert to the vehicle ahead, it is determined that the speed of the vehicle ahead has been continuously less than the speed setting for a predetermined period of time.

14. The method according to claim 13, further comprising: identifying a lane type of a currently traveled lane; determining a traffic speed of an adjacent lane; and sending a signal for overtaking the vehicle ahead in response to a determination comprising: the traffic speed being greater than the speed of the vehicle ahead; and the lane type of the currently traveled lane corresponding to an overtaking condition.

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