Automatic lane changing system and method

Abstract

A system for automatically changing a first road lane of a vehicle to a second road lane to keep an autonomous driving unit engaged. The system includes an ECU to check the position of the vehicle to define a map segment of the first road lane and the second road lane. The first road lane is a main lane occupied by the vehicle and the second road lane is an available lane. The ECU detects whether the availability of the first road lane is poor. The system also includes a sensor to monitor the availability of the first road lane. The system also includes a backend unit to mark the first road lane if the availability of the first road lane is detected to be poor, thereby recording the first road lane in an instance counter (IC) and designating the first road lane as a non-preferred lane if an occurrence threshold of the IC is reached. The system also includes an automatic lane change (ALC) unit to move the vehicle to the second road lane.

Description

Technical Field

[0001] The present disclosure relates to systems and methods for automatically changing lanes, and more particularly, to systems and methods for automatically changing lanes while maintaining an automated driving system in a vehicle engaged. Background Art

[0002] During semi-autonomous or autonomous vehicle operation, the autonomous driving system can experience failures that can cause user pain points. In some cases, changing lanes requires disengaging the vehicle's autonomous driving system, which is undesirable. Summary of the Invention

[0003] Therefore, while current vehicles with automated driving systems (ADS) are adequate for lane changes, a need exists for a new and improved system and method for keeping a vehicle's ADS engaged during a lane change.

[0004] Therefore, as an aspect of the present disclosure, a system and method are provided for automatically changing a first road lane occupied by a vehicle to a second road lane based on environmental conditions to maintain engagement of the vehicle's autonomous driving system with a global positioning system (GPS). According to one aspect of the present disclosure, a method is provided for automatically changing a first road lane occupied by a vehicle to a second road lane based on environmental conditions to maintain engagement of the vehicle's autonomous driving system with a GPS. The method includes providing a road map database.

[0005] The method further includes checking the vehicle's position based on the vehicle's GPS and a road map database to define a map segment of a first road lane and a second road lane, designating the first road lane as a primary lane occupied by the vehicle in the map segment, and designating the second road lane as an available lane in the map segment based on environmental conditions.

[0006] In this aspect, the method further includes monitoring the availability of a first road lane of the map segment. The method further includes detecting whether the availability of the first road lane of the map segment is poor based on environmental conditions, and if the availability of the first road lane is detected to be poor, marking the first road lane of the map segment. The method further includes recording the first road lane of the map segment in an instance counter calibrated to a predetermined occurrence threshold.

[0007] Further, in this aspect, the method includes designating the first road lane as a non-preferred lane and moving the vehicle to a second road lane using the automated driving system if a predetermined occurrence threshold is reached. Furthermore, the method includes designating the second road lane as a primary lane.

[0008] In one example of this aspect, the method further includes maintaining the vehicle in the first road lane of the map segment if acceptable usability of the first road lane is detected. Furthermore, the method further includes maintaining the first road lane as a primary lane if the vehicle is maintained in the first road lane. Furthermore, in this example, the method includes maintaining engagement of the automated driving system with the vehicle if the first road lane is maintained as the primary lane.

[0009] In another example of this aspect, the environmental conditions include road conditions, lane markings, obstacles, and road maintenance. In another aspect, acceptable usability is based on environmental conditions that allow the automated driving system to maintain engagement with the vehicle during operation. In another example, poor usability is based on environmental conditions that would prevent the automated driving system from engaging with the vehicle during operation.

[0010] In one example of this aspect, the step of checking the vehicle position includes comparing first data of the vehicle from the GPS with second data of a map segment from a road map database. The checking step also includes determining the position of the vehicle relative to the map segment.

[0011] In another embodiment, first data of the vehicle from a GPS provides information transmitted to calculate a three-dimensional position of the vehicle with respect to time, and second data of a map segment from a road map database provides environmental information about lane lines and conditions of the first road lane and the second road lane.

[0012] According to another aspect of the present disclosure, a system is provided for automatically changing a first road lane occupied by a vehicle to a second road lane based on environmental conditions to keep the vehicle's autonomous driving system engaged with a global positioning system (GPS). The system includes an electronic control unit (ECU) disposed in the vehicle and communicating with the autonomous driving system. The ECU is configured to check the vehicle's position based on the vehicle's GPS data and a road map database, defining a map segment for the first road lane and the second road lane. In this embodiment, the first road lane is designated as the main lane occupied by the vehicle in the map segment. The second road lane is designated as an available lane in the map segment based on the environmental conditions. In addition, the ECU is configured to receive an availability signal indicating the availability of the first road lane of the map segment and detect whether the availability of the first road lane of the map segment is poor based on the environmental conditions.

[0013] In this aspect, the system further includes at least one sensor disposed around the vehicle and configured to monitor the availability of the first road lane of the map segment. The at least one sensor communicates with the ECU to transmit an availability signal indicating the availability of the first road lane of the map segment.

[0014] The system further includes a backend unit located remotely from the vehicle and in communication with the ECU. The backend unit is configured to mark the first road lane of the map segment if poor availability of the first road lane is detected. In this aspect, the backend unit is configured to record the first road lane of the map segment in an instance counter of the backend unit. The instance counter is calibrated to a predetermined occurrence threshold. Furthermore, the backend unit is configured to designate the first road lane as a non-preferred lane if the predetermined occurrence threshold is reached.

[0015] In this aspect of the present disclosure, the system further includes an automatic lane change (ALC) unit disposed in the vehicle and in communication with the ECU. The ALC unit is configured to move the vehicle to the second road lane using the automated driving system.

[0016] In one embodiment of this aspect, the system further includes a road map module disposed in the vehicle and in communication with the ECU. The road map module is configured to store a road map database. The road map database is a compilation of road maps within a predetermined area. In this embodiment, the system further includes a receiver disposed in the vehicle and in communication with the ECU. The receiver is configured to receive vehicle location data from a GPS.

[0017] In another embodiment, the ECU is arranged to check the position of the vehicle by comparing first data of the vehicle from the GPS with second data of a map segment from a road map database and by determining the position of the vehicle relative to the map segment.

[0018] In another embodiment of this aspect, the vehicle's position data from a GPS provides information transmitted to calculate the vehicle's three-dimensional position with respect to time, and wherein second data of a map segment from a road map database provides environmental information about lane lines and the conditions of the first road lane and the second road lane.

[0019] In another embodiment, the ECU is arranged to designate the second road lane as the primary lane after the vehicle moves into the second road lane.

[0020] In another embodiment of this aspect, the ECU is configured to maintain the vehicle in the first road lane of the map segment if acceptable usability of the first road lane is detected. Furthermore, the ECU is configured to maintain the first road lane as the primary lane if the vehicle is maintained in the first road lane. Furthermore, the ECU is configured to maintain engagement of the automated driving system with the vehicle if the first road lane is maintained as the primary lane.

[0021] In another embodiment, the environmental conditions include road conditions, lane markings, obstacles, and road maintenance. In another embodiment, acceptable usability is based on environmental conditions that allow the automated driving system to maintain engagement with the vehicle during operation. In another embodiment, poor usability is based on environmental conditions that would prevent the automated driving system from engaging the vehicle during operation.

[0022] According to another aspect of the present disclosure, another method for automatically changing a first road lane occupied by a vehicle to a second road lane based on environmental conditions to maintain engagement of an autonomous driving system of the vehicle with a global positioning system (GPS) is provided. The method includes providing a road map database.

[0023] In this aspect, the method further includes checking the vehicle's position based on the vehicle's GPS and a road map database to define a map segment of a first road lane and a second road lane. The first road lane is designated as a primary lane occupied by the vehicle in the map segment. Furthermore, the second road lane is designated as an available lane in the map segment based on environmental conditions.

[0024] In this example, the method further includes monitoring the availability of a first road lane of the map segment and detecting, based on environmental conditions, whether the availability of the first road lane of the map segment is poor. The method further includes marking the first road lane of the map segment if the availability of the first road lane is detected to be poor, and recording the first road lane of the map segment in an instance counter calibrated to a predetermined occurrence threshold.

[0025] Still in this example, the method further includes designating the first road lane as a non-preferred lane and moving the vehicle to a second road lane using the automated driving system if the predetermined occurrence threshold is reached. Furthermore, the method includes designating the second road lane as a primary lane.

[0026] Further, in this example, the method includes maintaining the vehicle in the first road lane of the map segment if acceptable usability of the first road lane is detected. Furthermore, the method includes maintaining the first road lane as a primary lane if the vehicle is maintained in the first road lane. Furthermore, the method includes maintaining engagement of the automated driving system with the vehicle if the first road lane is maintained as the primary lane.

[0027] In one example of this aspect, the environmental conditions include road conditions, lane markings, obstacles, and road maintenance. In another example, acceptable usability is based on environmental conditions that allow the automated driving system to maintain engagement with the vehicle during operation. In another example, poor usability is based on environmental conditions that would prevent the automated driving system from engaging with the vehicle during operation.

[0028] Further areas of applicability will become apparent from the description provided herein.It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.

[0030] Figure 1 is a flowchart of a method for automatically changing a vehicle lane according to one example of the present disclosure.

[0031] Figure 2 It is the use of Figure 1 A schematic diagram of a system for automatically changing lanes of a vehicle.

[0032] Figure 3 is a flowchart of a method for automatically changing a vehicle lane according to another example of the present disclosure. DETAILED DESCRIPTION

[0033] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses.

[0034] The present disclosure provides systems and methods for optimizing the engagement of an automated driving system (ADS) during vehicle operation, thereby reducing the number of ADS escalations a user may experience. The systems and methods of the present disclosure allow a vehicle to automatically change lanes using an automatic lane change (ALC) unit without disengaging the ADS during operation. Thus, the overall number of ADS escalations is reduced.

[0035] According to one embodiment of the present disclosure, Figure 1 A system 10 is depicted for automatically changing a first road lane occupied by a vehicle 11 to a second road lane based on environmental conditions to maintain engagement of an automated driving system (ADS) 12 with the vehicle's global positioning system (GPS). As shown, the system 10 includes an electronic control unit (ECU) 14 disposed in the vehicle and in communication with the vehicle's ADS. The ECU 14 is configured to determine the vehicle's position based on the vehicle's global positioning system (GPS) data (or position data) and a road map database, defining map segments for the first road lane and the second road lane. In one example, the ECU 14 can determine the vehicle's position by comparing first or position data of the vehicle from the GPS with second or map data of the map segment from the road map database. In this example, the ECU 14 is capable of determining the vehicle's position relative to the map segment.

[0036] In this embodiment, a first road lane is designated as the primary lane occupied by the vehicle in the map segment. A second road lane is designated as an available lane in the map segment based on environmental conditions. That is, lane availability is based on environmental conditions, such as road conditions, lane markings, obstacles, and road maintenance. Furthermore, the ECU 14 is configured to receive an availability signal (discussed in detail below) indicating the availability of the first road lane for the map segment. Furthermore, the ECU 14 is configured to detect whether the availability of the first road lane in the map segment is poor or acceptable based on the environmental conditions.

[0037] It should be understood that environmental conditions may include road conditions, lane markings, obstacles, road maintenance, and any other external conditions that may hinder ADS from engaging with the vehicle during operation. In addition, including any other external conditions would not depart from the scope or spirit of the present disclosure.

[0038] In this example, acceptable availability is based on environmental conditions in the host lane that allow the ADS to remain engaged with the vehicle during operation. In one example, the ECU 14 may include an algorithm with logic, steps, calculations, and constraints to determine acceptable availability. Additionally, poor availability may be based on environmental conditions that would prevent the automated driving system 12 from engaging the vehicle during operation. In one example, the ECU 14 may include an algorithm with logic, steps, calculations, and constraints to determine poor availability.

[0039] like Figure 1 As shown, the system 10 also includes a receiver 16 disposed in the vehicle and in communication with the ECU 14. The receiver 16 is configured to receive vehicle position data from a GPS. In this embodiment, the vehicle position data is transmitted from the GPS and received by the receiver 16. The position data is transmitted from the receiver 16 to the ECU 14 to determine or calculate the three-dimensional position of the vehicle with respect to time.

[0040] refer to Figure 1 The system 10 further includes a road map module 18 disposed in the vehicle and in communication with the ECU 14. The road map module 18 is configured to store a road map database. In this embodiment, the road map database is a compilation of road maps within a predetermined area (e.g., a city, county, state, country, or region of the globe). Furthermore, map data from the map segments of the road map database provides environmental information regarding environmental conditions of the first road lane and the second road lane.

[0041] like Figure 1As shown, system 10 further includes at least one sensor 20, preferably a plurality of sensors, positioned about the vehicle and in communication with ECU 14. In this embodiment, sensor 20 is configured to monitor the availability of a first road lane of a map segment. For example, sensor 20 may be a camera (or multiple cameras) positioned exterior and front of the vehicle. It should be understood that sensor 20 may be any other suitable device positioned at any suitable location on the vehicle without departing from the spirit or scope of the present invention. Further, sensor 20 is in communication with ECU 14 and configured to transmit an availability signal indicating the availability of the first road lane of the map segment.

[0042] refer to Figure 1 The system 10 further includes a backend unit 22, which is located remotely from the vehicle and wirelessly communicates with the ECU 14 via any known means (e.g., an internet connection). If poor availability of the first road lane is detected, the ECU 14 accordingly transmits a first signal to the backend unit 22. Specifically, the first signal is first data indicating poor availability of the first road lane. The backend unit 22 is configured (or has a controller configured) to mark the first road lane of the map segment upon receiving the first signal from the ECU 14. Specifically, if the first signal is transmitted, the first data is added to a backend database (not shown) of the backend unit 22.

[0043] When marking the first road lane, the backend unit 22 is configured to record the first road lane of the map segment in an instance counter of the backend unit 22. In this embodiment, the instance counter is calibrated to a predetermined occurrence threshold, such as 3, 5, 10, or any other suitable threshold. If the predetermined occurrence threshold of the instance counter is reached, the backend unit 22 is configured to designate the first road lane as a non-preferred lane. This information is stored in a backend database and transmitted to the ECU 14 for storage in the road map module 18.

[0044] In this aspect of the present disclosure, the system 10 further includes an automatic lane change (ALC) unit 24 disposed in the vehicle and in communication with the ECU 14. If the backend unit 22 designates the first road lane as a non-preferred lane, the ALC unit 24 is configured to move the vehicle to a second road lane using the automated driving system (ADS) 12. After the vehicle moves to the second road lane, the ECU 14 is configured to designate the second road lane as a primary lane.

[0045] It should be understood that the ALC unit 24 can be a separate component from the ECU 14 to move the vehicle to the second lane using the ADS 12. It should also be understood that the ALC unit 24 can be an algorithm stored within and executed by the ECU 14 to move the vehicle to the second lane using the ADS 12 without departing from the spirit or scope of the present disclosure.

[0046] It should be understood that each of the sensor 20 , receiver 16 , road map module 18 , automatic lane change unit 24 , and autonomous driving system 12 may communicate with the ECU 14 wirelessly, by wire, or in any other suitable manner without departing from the spirit or scope of the present disclosure.

[0047] It should be understood that the ECU 14, ALC unit 24, ADS, backend unit 22, and other units involved in the system of the present disclosure include algorithms to, for example, automatically drive the vehicle during operation, keep the ADS engaged with the vehicle, record the first road lane of a map segment in an instance counter, or automatically move the vehicle to change lanes. Any suitable algorithm may be used in any of the above units without departing from the spirit or scope of the present disclosure.

[0048] According to one embodiment of the present disclosure, Figure 2 A method 110 is provided for automatically changing a first road lane occupied by a vehicle to a second road lane based on environmental conditions to maintain engagement of an automated driving system of the vehicle. Figure 1 As shown, the method 110 includes providing a road map database at block 112. As discussed above, the road map database may be stored in a manner described above and in a manner described above. Figure 1 . In this example, the road map database is a compilation of road maps within a predetermined area (such as an area within a city, county, state, country, or the globe).

[0049] like Figure 2 As shown, the method 110 further includes checking the position of the vehicle based on the vehicle's GPS and the road map database to define a map segment for the first road lane and the second road lane at box 114. In one example, the step of checking 114 the vehicle's position includes comparing the first or position data of the vehicle from the GPS with the second or map data of the map segment from the road map database. In this example, the ECU 14 can perform this step. That is, the ECU 14 is able to determine the three-dimensional position of the vehicle relative to the map segment. That is, the ECU 14 can determine the three-dimensional position of the vehicle relative to the map segment. That is, the ECU 14 can determine the three-dimensional position of the vehicle relative to the map segment via the receiver 16 ( Figure 1 ) receives the vehicle's position data from GPS. Based on the position data, the vehicle's three-dimensional position relative to time can be calculated.

[0050] In this example, a first road lane is designated as the primary lane occupied by the vehicle in the map segment. A second road lane is designated as an available lane in the map segment based on environmental conditions. That is, the availability of a lane is based on environmental conditions, such as road conditions, lane markings, obstacles, and road maintenance. It should be understood that environmental conditions can include road conditions, lane markings, obstacles, road maintenance, and any other external conditions that may prevent the automated driving system (ADS) 12 from engaging the vehicle during operation. Furthermore, including such other external conditions would not depart from the scope or spirit of the present disclosure.

[0051] In this example, the method 110 further includes monitoring the availability of the first road lane of the map segment at block 116. In addition, the sensor 20 ( Figure 1 ) monitors the availability of the first road lane of the map segment. As discussed above, the sensor 20 can send an availability signal to the ECU 14 indicating the availability of the first road lane of the map segment.

[0052] refer to Figure 2 The method 110 further includes detecting, at block 118, whether the usability of the first road lane of the map segment is poor or acceptable based on environmental conditions. In this example, the step of detecting 118 may be implemented by the ECU 14. Furthermore, acceptable usability may be based on environmental conditions of the host lane that allow the ADS to remain engaged with the vehicle during operation. Poor usability may be based on environmental conditions that would prevent the automated driving system 12 from engaging the vehicle during operation.

[0053] like Figure 2 As shown, method 110 further includes marking the first road lane of the map segment at block 120 if poor availability of the first road lane is detected. In this example, upon detecting poor availability of the first road lane, ECU 14 accordingly transmits a first signal to backend unit 22. Specifically, the first signal is first data indicating poor availability of the first road lane. As discussed above, upon receiving the first signal from ECU 14, backend unit 22 marks the first road lane of the map segment. The marking step 120 is completed when the first data is added to the backend database of backend unit 22.

[0054] The method 110 also includes recording the first road lane of the map segment in an instance counter calibrated to a predetermined occurrence threshold at block 122. In this example, when marking the first road lane, the backend unit 22 records the first road lane of the map segment in an instance counter of the backend unit 22. As in the system 10 discussed above, the instance counter is calibrated to a predetermined occurrence threshold, such as 3, 5, 10, or any other suitable threshold.

[0055] Furthermore, in this example, method 110 includes designating the first road lane as a non-preferred lane at block 124 if a predetermined occurrence threshold is reached. For example, if the predetermined occurrence threshold is set to three occurrences and the first road lane is recorded as occurring three times, the first road lane is designated as a non-preferred lane. In this example, the backend unit 22 may perform the step of designating 124 the first road lane as a non-preferred lane. Furthermore, this information may be stored in the backend database and the road map module 18.

[0056] like Figure 2 As shown, the method 110 also includes automatically moving the vehicle to the second lane using the automated driving system (ADS) 12 at block 126. In this example, if the first road lane is designated as a non-preferred lane, the ALC unit 24 uses the ADS to move the vehicle to the second road lane.

[0057] Additionally, the method 110 includes, after moving the vehicle into the second road lane, designating the second road lane as a primary lane at block 128. As described above, the designating 128 step may be performed by the ECU 14.

[0058] According to another example of the present disclosure, Figure 3 A method 210 is provided for automatically changing a first road lane occupied by a vehicle to a second road lane based on environmental conditions to maintain engagement of an automated driving system of the vehicle. The method 210 described herein may also be performed by Figure 1 As shown, the method 210 includes providing a road map database at block 112. As discussed above, the road map database may be stored in a system as described above and in Figure 1 . In this example, the road map database is a compilation of road maps within a predetermined area (such as an area within a city, county, state, country, or the globe).

[0059] like Figure 3 As shown, the method 210 further includes checking the position of the vehicle based on the vehicle's GPS and the road map database to define a map segment for the first road lane and the second road lane at block 214. In one example, the step of checking 214 the vehicle's position includes comparing the first or position data of the vehicle from the GPS with the second or map data of the map segment from the road map database. In this example, the ECU 14 can perform this step. That is, the ECU 14 is able to determine the three-dimensional position of the vehicle relative to the map segment. That is, the ECU 14 can determine the three-dimensional position of the vehicle relative to the map segment. That is, the ECU 14 can determine the three-dimensional position of the vehicle relative to the map segment by the receiver 16 ( Figure 1 ) receives the vehicle's position data from GPS. Based on the position data, the vehicle's three-dimensional position relative to time can be calculated.

[0060] In this example, a first road lane is designated as the primary lane occupied by the vehicle in the map segment. A second road lane is designated as an available lane in the map segment based on environmental conditions. That is, the availability of a lane is based on environmental conditions, such as road conditions, lane markings, obstacles, and road maintenance. It should be understood that environmental conditions can include road conditions, lane markings, obstacles, road maintenance, and any other external conditions that may prevent the automated driving system (ADS) 12 from engaging the vehicle during operation. Furthermore, including such other external conditions would not depart from the scope or spirit of the present disclosure.

[0061] In this example, the method 210 further includes monitoring the availability of the first road lane of the map segment at block 216. In addition, the sensor 20 ( Figure 1 ) monitors the availability of the first road lane of the map segment. As discussed above, the sensor 20 can send an availability signal to the ECU 14 indicating the availability of the first road lane of the map segment.

[0062] refer to Figure 3 Method 210 further includes detecting, at block 218, whether the usability of the first road lane of the map segment is poor or acceptable based on environmental conditions. In this example, the step of detecting 218 may be implemented by the ECU 14. Furthermore, acceptable usability may be based on environmental conditions of the host lane that allow the ADS to remain engaged with the vehicle during operation. Poor usability may be based on environmental conditions that would prevent the automated driving system 12 from engaging the vehicle during operation.

[0063] like Figure 3 As shown, method 210 further includes marking the first road lane of the map segment at block 220 if poor availability of the first road lane is detected. In this example, upon detecting poor availability of the first road lane, ECU 14 accordingly transmits a first signal to backend unit 22. Specifically, the first signal is first data indicating poor availability of the first road lane. As discussed above, upon receiving the first signal from ECU 14, backend unit 22 marks the first road lane of the map segment. Marking 220 is completed when the first data is added to the backend database of backend unit 22.

[0064] The method 210 further includes recording the first road lane of the map segment in an instance counter calibrated to a predetermined occurrence threshold at block 222. In this example, when marking the first road lane, the backend unit 22 records the first road lane of the map segment in an instance counter of the backend unit 22. As in the system 10 discussed above, the instance counter is calibrated to a predetermined occurrence threshold, such as 3, 5, 10, or any other suitable threshold.

[0065] Furthermore, in this example, method 210 includes designating the first road lane as a non-preferred lane at block 224 if a predetermined occurrence threshold is reached. For example, if the predetermined occurrence threshold is set to three occurrences and the first road lane is recorded as occurring three times, the first road lane is designated as a non-preferred lane. In this example, the backend unit 22 may perform the step of designating 224 the first road lane as a non-preferred lane. Furthermore, this information may be stored in the backend database and the road map module 18.

[0066] like Figure 3 As shown, the method 210 also includes automatically moving the vehicle to the second lane using the automated driving system (ADS) 12 at block 226. In this example, if the first road lane is designated as a non-preferred lane, the ALC unit 24 uses the ADS to move the vehicle to the second road lane. Figure 3 As shown, method 210 includes designating the second road lane as the main lane after moving the vehicle to the second road lane. As described above, the step of designating 228 can be completed by ECU 14.

[0067] refer to Figure 3 , method 210 further includes maintaining the vehicle in the first road lane of the map segment at block 230 if acceptable availability of the first road lane is detected. In this example, maintaining the vehicle in the first road lane 230 is performed by the ECU 14 and the ADS unit 12. Therefore, the ECU 14 is configured to detect whether the availability of the first road lane is acceptable or poor. Furthermore, the sensor 20 is configured to transmit a second availability signal to the ECU 14 indicating acceptable availability of the first road lane. If acceptable availability of the first road lane is detected, the ECU 14 may transmit a second signal to the ADS to maintain the vehicle in the first road lane. In this example, the second signal is second data indicating acceptable availability of the first road lane.

[0068] Additionally, the method 210 includes maintaining the first road lane as the primary lane at block 232 if the vehicle is maintained in the first road lane. Additionally, the method 210 includes maintaining engagement of the automated driving system 12 with the vehicle at block 234 if the first road lane is maintained as the primary lane. In this example, the ADS unit 12 remains engaged with the vehicle.

[0069] The description of the present disclosure is merely exemplary in nature, and variations that do not depart from the gist of the present disclosure are intended to fall within the scope of the present disclosure. Such variations should not be regarded as a departure from the spirit and scope of the present disclosure.

Claims

1. A method for automatically changing a first road lane occupied by a vehicle to a second road lane based on environmental conditions to maintain engagement of an autonomous driving system of the vehicle with a global positioning system (GPS), the method comprising: Provide road map database; checking the position of the vehicle based on the vehicle's GPS and the road map database to define a map segment for the first road lane and the second road lane, wherein the first road lane is designated as a primary lane occupied by the vehicle in the map segment and the second road lane is designated as an available lane in the map segment based on environmental conditions; monitoring availability of a first road lane of the map segment; detecting whether availability of a first road lane of the map segment is poor based on environmental conditions; marking the first road lane of the map segment if poor availability of the first road lane is detected; recording a first road lane of the map segment in an instance counter calibrated to a predetermined occurrence threshold; designating the first road lane as a non-preferred lane if the predetermined occurrence threshold is reached; moving the vehicle to the second road lane using the automated driving system; as well as designating the second road lane as the main lane; wherein acceptable availability is based on environmental conditions that allow the automated driving system to remain engaged with the vehicle during operation; Poor availability is based on environmental conditions that would prevent the automated driving system from engaging the vehicle during operation.

2. The method according to claim 1, further comprising: maintaining the vehicle in the first road lane of the map segment if acceptable availability of the first road lane is detected; maintaining the first road lane as the main lane if the vehicle remains in the first road lane; and If the first road lane is maintained as the primary lane, the automated driving system is maintained engaged with the vehicle.

3. The method of claim 1, wherein the environmental conditions include road conditions, lane markings, obstacles, and road maintenance.

4. The method of claim 1 , wherein the step of checking the location of the vehicle comprises: comparing first data of the vehicle from the GPS with second data of a map segment from the road map database; as well as A position of the vehicle relative to the map segment is determined.

5. The method of claim 4 , wherein the first data from the GPS of the vehicle provides information transmitted to calculate the three-dimensional position of the vehicle with respect to time, and wherein the second data of the map segments from the road map database provides environmental information about lane lines and conditions of the first road lane and the second road lane.

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