Detection of lane conditions in adaptive cruise control systems

Abstract

Vehicle, including: a communication module for V2V communication; a camera for taking pictures; a control for the following: Identifying the vehicle type of a lead vehicle based on the images; Determining a lead vehicle speed; and Sending a warning via the communication module to the lead vehicle in response to the following determination: that the lead vehicle is a passenger car; and that the lead vehicle speed is below a speed setting for activated adaptive cruise control, the control system determines that the lead vehicle speed remains below the speed setting for a predetermined period before sending the warning to the lead vehicle.

Description

TECHNICAL AREA

[0001] The present disclosure relates in general to speed control systems and in particular to the detection of lane conditions in adaptive speed control systems. STATE OF THE ART

[0002] Vehicles often include cruise control devices, systems, and / or software that perform autonomous and / or semi-autonomous driving functions. Typically, a cruise control system allows a driver to set a target speed for the vehicle. Upon receiving this setting from the driver, the cruise control system autonomously adjusts the vehicle's speed to the target speed. More recently, some vehicles have incorporated adaptive cruise control devices, systems, and / or software that autonomously slow the vehicle down from the target speed when they detect that the vehicle is approaching an object (e.g., a slower-moving vehicle).

[0003] EP 3 091 520 A1 shows a vehicle comprising: a communication module for V2V communication; a camera for taking pictures; a control system for: identifying a vehicle type of a lead vehicle based on the pictures and determining a lead vehicle speed.

[0004] Further prior art relevant to the present invention is found in the subsequently published US 11 308 799 B2. SUMMARY

[0005] The attached independent claims define this application. Advantageous embodiments of the invention are described in the dependent claims. The present disclosure summarizes aspects of the embodiments and should not be used to limit the claims. Other implementations are considered in accordance with the techniques described herein, as will be apparent to the person skilled in the art upon review of the following drawings and detailed description, and these implementations are intended to be within the scope of this application.

[0006] Exemplary embodiments for detecting lane conditions in adaptive cruise control systems are shown. An exemplary vehicle disclosed includes a communication module for V2V communication, a camera for capturing images, and a controller. The controller is intended to identify the vehicle type of a lead vehicle based on the images and determine the lead vehicle's speed. The controller is also intended to send a warning to the lead vehicle via the communication module in response to determining that the lead vehicle is a passenger car and that the lead vehicle's speed is below a speed setting for activated adaptive cruise control.

[0007] A disclosed exemplary method involves capturing an image using a camera and identifying the vehicle type of a lead vehicle based on the image using a processor. The disclosed exemplary method also involves determining the lead vehicle's speed using the processor. Furthermore, the disclosed exemplary method includes sending a warning to the lead vehicle via V2V communication in response to determining that the lead vehicle is a passenger car and that its speed is below an active adaptive cruise control setting. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] For a better understanding of the invention, reference may be made to embodiments shown in the following drawings. The components in the drawings are not necessarily to scale, and related elements may be omitted, or in some cases, proportions may be enlarged to highlight and clearly illustrate the novel features described herein. Furthermore, system components may be arranged in various ways, as is known in the field. In addition, corresponding parts in the different views of the drawings are identified by the same reference numerals. Fig. Figure 1 illustrates an exemplary vehicle in accordance with the teachings of this document. Fig. 2 illustrates the vehicle from Fig. 1, approaching a slow lead vehicle in an overtaking condition. Fig. Figure 3 illustrates the vehicle from Fig. 1, approaching a slow lead vehicle in a no-overtaking condition. Fig. 4 is a block diagram of the vehicle's electronic components. Fig. 1. Fig. Figure 5 is a flowchart for capturing overtaking conditions while adaptive cruise control is activated according to the teachings of this document. DETAILED DESCRIPTION OF EXAMPLE EXECUTIONS

[0009] Although the invention can be implemented in various forms, some exemplary and non-limiting embodiments are shown in the drawings and described below, it being understood that the present disclosure is to be regarded as an explanation of the invention by means of examples and is therefore not intended to limit the invention to the specific embodiments illustrated.

[0010] Vehicles often include cruise control, which allows the vehicle to autonomously control its speed. Typically, a cruise control system allows a driver to set a target speed for the vehicle. Upon receiving this setting from the driver, the vehicle autonomously adjusts its speed to that 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 vehicle's driver. More recently, some vehicles have incorporated adaptive cruise control, which allows a vehicle to autonomously decelerate from a target speed when it detects that it is approaching an object.As used herein, this refers to a device, system, software, and / or setting that enables a vehicle to drive autonomously and / or semi-autonomously at a target speed set by the vehicle's operator, and enables the vehicle to brake autonomously and / or semi-autonomously upon detecting that it is approaching another object (e.g., a slower-moving vehicle). In some cases, while adaptive cruise control is activated, the vehicle may approach a vehicle traveling continuously at a speed below the vehicle's target speed.

[0011] Exemplary methods and an exemplary device disclosed herein support a vehicle with adaptive cruise control activated detecting and overtaking a slow-moving lead vehicle. Examples disclosed herein include a vehicle incorporating adaptive cruise control. While the adaptive cruise control is activated, a vehicle controller (via a camera detection system or an electronic imaging system) detects whether it is traveling behind a lead vehicle that is slower than a target speed setting of the adaptive cruise control. If the lead vehicle is traveling below the target speed setting (e.g., continuously for a predetermined period), the controller (e.g., via a camera, V2V communication, V2X communication, etc.) determines the vehicle type or vehicle classification of the lead vehicle.If the lead vehicle is not a semi-trailer truck, an emergency vehicle (e.g., a police car, a fire engine), etc., and / or another vehicle that needs to travel at a lower speed, the control system (e.g., via V2V communication) sends a warning to the lead vehicle indicating that it is driving slowly.

[0012] Additionally or alternatively, the control system (e.g., via a camera, sensor, V2V communication, V2X communication, navigation system, etc.) determines the speed of traffic in an adjacent lane if the lead vehicle is traveling below the target speed setting. If the speed in the adjacent lane is higher than the vehicle's speed, the control system (e.g., via a camera, proximity sensor, V2V communication, V2X communication, navigation system, etc.) determines whether the lead vehicle merges, leaves its lane, is in a no-passing zone, is in a residential area, and / or any other no-passing condition applies. If an overtaking condition applies to the vehicle on the road (e.g., the lead vehicle is traveling on a highway and / or expressway and does not merge, leaves its lane, is in a no-passing zone, etc.), the system determines whether the lead vehicle merges, leaves its lane, is in a no-passing zone, etc.The control unit sends a signal to change lanes to the adjacent lane. For example, the signal sent by the control unit causes a display to show the driver an instruction to change lanes to the adjacent lane, and / or causes an electronic control unit of the vehicle to autonomously perform a lane change to the adjacent lane.

[0013] As used herein, “overtaking condition” refers to a road condition for at least one section of a road where a vehicle is permitted to overtake a vehicle in an adjacent lane (e.g., when driving on a motorway and / or expressway). As used herein, “no overtaking condition” refers to a road condition for at least one section of a road where a vehicle is not permitted to overtake a vehicle in an adjacent lane. Examples of no overtaking conditions include no-overtaking zones, merging lanes (e.g., on ramps), splitting lanes (e.g., coming down ramps), construction zones, residential areas, etc.

[0014] With reference to the characters, illustrates Fig. 1. An exemplary vehicle 100 according to the teachings of this document. The vehicle 100 may be a standard gasoline-powered vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, and / or a vehicle type with any other propulsion system. The vehicle 100 includes parts related to mobility, such as a powertrain with an engine, a transmission, a suspension, a drive shaft, and / or wheels, etc. The vehicle 100 may be non-autonomous, semi-autonomous (e.g., some routine driving functions are controlled by the vehicle 100), or autonomous (e.g., driving functions are controlled by the vehicle 100 without direct driver input).

[0015] In the illustrated example, vehicle 100 includes a cluster output 102, a display 104, and speakers 106. For example, the cluster output 102 presents an indicator (e.g., a low tire pressure indicator, an engine check indicator, a lane change indicator, etc.) to provide instructions and / or other information to the driver of vehicle 100. The display 104 (e.g., a touchscreen) presents visual signals to an occupant of vehicle 100 for informational and / or entertainment purposes, and the speakers 106 present audio signals to the occupants of vehicle 100 for informational and / or entertainment purposes.

[0016] As in Fig. As illustrated in Figure 1, the vehicle also 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 a signal from a global positioning system to identify the location of the vehicle 100. Furthermore, the vehicle speed sensor 110 detects the speed at which the vehicle 100 is traveling.

[0017] The communication module 112 is a dedicated short-range communication (DSRC) module that includes antenna(s), radio(s), and software for transmitting messages and establishing connections between the vehicle 100 and another vehicle (e.g., a command vehicle 206). Fig. 2, a vehicle 208 from Fig. 2) includes infrastructure-based modules and / or mobile device-based modules. For example, the communication module 112 is configured to communicate with other vehicles via vehicle-to-vehicle (V2V) communication and / or to communicate with infrastructure-based modules via vehicle-to-infrastructure (V2X) communication.

[0018] Further information about the DSRC network and how the network communicates with vehicle hardware and software is available in 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), which is hereby incorporated by reference in its entirety, together with all documents listed on pages 11 through 14 of the SyRS Report. DSRC systems can be installed on vehicles and on roadside infrastructure. DSRC systems that include infrastructure information are known as a "roadside" system.DSRC can be combined with other technologies, such as the Global Positioning System (GPS), Visual Light Communications (VLC), cellular communication, and short-range radar, which enable vehicles to communicate their position, speed, direction, and relative position to other objects, and to exchange information with other vehicles or external computer systems. DSRC systems can be integrated into other systems, such as mobile phones.

[0019] Currently, the DSRC network is identified by the abbreviation or designation DSRC. However, other designations are sometimes used, usually referring to a vehicle connectivity program or similar. Most of these systems are either pure DSRC or a variation of the IEEE 802.11 WLAN standard. However, in addition to pure DSRC systems, dedicated wireless communication systems between vehicles and roadside infrastructure systems are also intended to be covered. These systems are integrated with GPS and based on an IEEE 802.11 wireless local area network protocol (such as 802.11p, etc.).

[0020] The Communications Module 114 of the illustrated example includes wired or wireless network interfaces to enable communication with external networks. The Communications Module 114 also includes hardware (e.g., processors, memory, storage, an antenna, etc.) and software to control the wired or wireless network interfaces. In the illustrated example, the Communications Module 114 includes one or more communication controllers for cellular networks (e.g., Global Mobile System (GSM), Universal Mobile Telecommunication System (UMTS), Long Term Evolution (LTE), Code Division Multiple Access (CDMA)) and / or other standards-based networks (e.g., WiMAX (IEEE 802.16m); Near Field Communication (NFC); ​​Wireless Local Area Network (including IEEE 802.11 a / b / g / n / ac or others) and Wireless Gigabit (IEEE 802.11ad), etc.).In some examples, the communication module 114 includes a wired or wireless interface (e.g., an auxiliary port, a universal serial bus (USB) port, a Bluetooth® wireless node, etc.) for communicative pairing with a mobile device (e.g., a smartphone, wearable, smartwatch, tablet, etc.). In such examples, the vehicle 100 can communicate with the external network via the paired mobile device. The external network(s) can be: a public network, such as the internet; a private network, such as an intranet; or combinations thereof, and can utilize a variety of network protocols currently available or developed in the future, including, but not limited to, TCP / IP-based network protocols.

[0021] As in Fig. As illustrated in Figure 1, the vehicle 100 also includes a camera 116 (e.g., a front camera, 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). The camera 116 records an image and / or video of an area in front of the vehicle 100, and the cameras 120 record an image and / or video of an area to the side of the vehicle 100. For example, the image(s) and / or video recorded by camera 116 and / or one or more of the cameras 120 will be displayed to an occupant of the vehicle 100 (e.g. via the display 104) and / or used to support the execution of autonomous and / or semi-autonomous driving maneuvers of the vehicle 100.Furthermore, the proximity sensor 118 monitors the area in front of the vehicle 100, and the proximity sensors 122 monitor the areas to the sides of the vehicle 100. The proximity sensor 118 and the proximity sensors 122 collect data that detect and identify the location(s) of an object near the vehicle 100. The proximity sensor 118 and / or one or more of the proximity sensors 122 include a radar sensor, a lidar sensor, an ultrasonic sensor, and / or any other proximity sensor that detects the presence and location of nearby objects. For example, a radar sensor detects and locates an object using radio waves, a lidar sensor detects and locates the object using lasers, and an ultrasonic sensor detects and locates the object using ultrasonic waves.

[0022] The vehicle 100 of the illustrated example also includes a lane condition control 124. The lane condition control 124 monitors the conditions of lanes (e.g., a lane 202 from Fig. 2, one track 204 from Fig. 2) a street (e.g. a street 200 from Fig. 2) along which the vehicle 100 travels while adaptive cruise control of the vehicle 100 is activated. For example, one or more electronic control units (ECUs) of the vehicle 100 perform the autonomous and / or semi-autonomous movement functions of the adaptive cruise control of the vehicle 100. While the adaptive cruise control is activated, the lane condition control 124 determines whether the vehicle 100 is behind a lead vehicle (e.g., a lead vehicle 206). Fig. 2) is traveling at a speed slower than the speed setting of the activated adaptive cruise control. If the lead vehicle travels below the speed setting (e.g., continuously for a predetermined period), the lane condition control 124 (e.g., via V2V communication) sends a warning to the lead vehicle if the lead vehicle is a passenger car (i.e., a vehicle that is not a semi-trailer truck, an emergency vehicle, and / or another vehicle that must travel at a lower speed than vehicle 100). Additionally or alternatively, if the lead vehicle is traveling below the target speed setting, the lane condition control 124 determines whether vehicle 100 can change lanes to overtake the slower lead vehicle.If vehicle 100 is able to change lanes, the lane condition control 124 sends a lane change signal to the adjacent lane. For example, the signal sent by the lane condition control 124 ensures that a lane change instruction (e.g., via cluster output 102, display 104, speakers 106, etc.) is displayed to the driver of vehicle 100, and / or ensures that an ECU (e.g., an autonomy unit 418) is activated. Fig. 4, a speed control unit 420 made of Fig. 4, a brake control unit 422 made of Fig. 4) the vehicle steers itself autonomously into the adjacent lane.

[0023] Fig. Figure 2 illustrates how vehicle 100 travels along road 200 in lane 202. As in Fig. As illustrated in Figure 2, road 200 includes lane 202 and another lane 204 adjacent to lane 202, each designated for vehicles traveling in the same direction. Vehicle 100 is traveling in lane 202 behind a lead vehicle 206 in an overtaking situation. Furthermore, another vehicle 208 is traveling in lane 204 adjacent to vehicle 100.

[0024] In the illustrated example, the adaptive cruise control of vehicle 100 is activated. While the adaptive cruise control is activated, the lane condition control 124 of vehicle 100 identifies whether vehicle 100 is driving behind a lead vehicle. For example, the lane condition control 124 detects that vehicle 100 is driving behind the lead vehicle 206. Fig. 2 is driving. Upon identifying the presence of the lead vehicle 206, the lane condition control 124 of vehicle 100 determines whether the lead vehicle 206 is driving at a lead vehicle speed that is lower and / or slower than a speed setting of the adaptive cruise control of vehicle 100.

[0025] The vehicle's speed setting of 100 is the maximum speed to which the adaptive cruise control is set to cause the vehicle to travel. The adaptive cruise control speed setting is set by the driver of vehicle 100 before the adaptive cruise control is activated. In some examples, an ECU (or ECUs) that performs the adaptive cruise control (e.g., an Autonomous Unit 418) limits the speed. Fig. 4, a speed control unit 420 made of Fig. 4, a brake control module 422 from Fig. 4) the speed setting to a speed less than or equal to a current speed limit on road 200 for vehicle 100. For example, the lane condition control 124 and / or the ECU(s) of vehicle 100 determine the current speed limit on road 200 for vehicle 100 based on a road sign 210 on road 200 that is contained in an image and / or video captured by camera 116 and / or one or more of the cameras 120 of vehicle 100. For example, vehicle 100 includes an image recognition system and / or image recognition software that enables the lane condition control 124 and / or the ECU(s) to determine the speed limit identified on the road sign 210. Additionally or alternatively, the lane condition control 124 and / or the ECU(s) determine the current speed limit identified on the road sign 210.The lane condition control 124 and / or the ECU(s) determine the current speed limit of the road 200 via a navigation system. For example, the vehicle 100 includes an on-board navigation system and / or communicates with the navigation system via the communication module 114.

[0026] Furthermore, before comparing the speed setting of vehicle 100 with the speed of the lead vehicle 206, the lane condition control 124 of vehicle 100 determines the speed of the lead vehicle 206. For example, the lane condition control 124 determines the speed of the lead vehicle 206 based on an image (or images) and / or a video recorded by camera 116 and / or data collected by proximity sensor 118. This means that the proximity sensor 118 collects data that allows the lane condition control 124 to detect the presence of the lead vehicle 206 and determine its speed.Additionally or alternatively, the lane condition control 124 detects the lead vehicle speed of the lead vehicle 206 via V2V and / or V2X communication, which is received by the communication module 112. For example, the communication module 112 receives the lead vehicle speed of the lead vehicle 206 from a communication module 212 (e.g., a DSRC module) of the lead vehicle 206, a communication module 214 (e.g., a DSRC module) of vehicle 208, a communication module (e.g., a DSRC module) of an infrastructure device (e.g., the road sign 210), etc.

[0027] In some examples, the lane condition control 124 compares the lead vehicle speed with the speed setting for a predetermined period to determine whether the lead vehicle 206 is traveling at a slower speed than the adaptive cruise control speed setting of vehicle 100. This means that the lane condition control 124 determines that the lead vehicle 206 is traveling at a slower speed than the adaptive cruise control speed setting of vehicle 100 if the lane condition control 124 determines that the lead vehicle speed is continuously below the speed setting of vehicle 100 for a duration of the predetermined period.For example, upon initially detecting that the lead vehicle speed is below the speed setting, the lane condition controller 124 starts a timer that counts down to a time threshold. If the lead vehicle speed remains below the speed setting until the time threshold is reached, the lane condition controller 124 determines that the lead vehicle 206 is traveling at a lower speed than the speed setting of vehicle 100. The lane condition controller 124 compares the speeds for the predetermined period and / or during the timer to account for instances where the lead vehicle 206 is traveling at speeds that fluctuate slightly above, slightly below, and / or at the speed setting of vehicle 100.

[0028] The lane condition control 124 also determines the vehicle type of the lead vehicle 206. This means that the lane condition control 124 determines whether the lead vehicle 206 is a passenger car or a semi-trailer truck, an emergency vehicle (e.g., a police car, a fire engine, etc.), and / or another type of vehicle that must travel at a lower speed than vehicle 100. For example, the lane condition control 124 determines the vehicle type of the lead vehicle 206 based on an image (or images) and / or a video recorded by camera 116 and / or data collected by proximity sensor 118. Additionally or alternatively, the lane condition control 124 determines the lead vehicle speed of the lead vehicle 206 via V2V communication and / or V2X communication provided by communication module 112 (e.g., a V2X communication module).received from the communication module 212 of the lead vehicle 206, the communication module 214 of vehicle 208, an infrastructure-based DSRC module, etc.). In the illustrated example, the lane condition control 124 sends a warning from communication module 112 to the communication module 214 of the lead vehicle 206 in response to determining the following: (i) that the lead vehicle speed of the lead vehicle 206 is below the speed setting of vehicle 100, and (ii) that the lead vehicle 206 is a passenger car (i.e., not a semi-trailer truck, emergency vehicle, and / or other vehicle type that must travel at a lower speed). For example, the warning informs the ECU and / or the driver operating the lead vehicle 206 that the lead vehicle 206 is traveling at a speed below the speed limit of road 200.Alternatively, the lane condition control 124 does not send the warning to the lead vehicle 206 if the lane condition control 124 determines that the lead vehicle 206 is a semi-trailer truck, an emergency vehicle and / or another type of vehicle that must travel at a lower speed.

[0029] In the illustrated example, the lane condition controller 124 also determines, upon determining that the lead vehicle speed is below the speed setting of vehicle 100, a traffic speed of traffic in lane 204 adjacent to lane 202 to identify whether vehicle 100 can overtake the lead vehicle 206 via lane 204. In the illustrated example, the lane condition controller 124 determines a speed at which vehicle 208 travels 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 an image (or images) and / or video captured by camera 116, data collected by proximity sensor 118, an image (or images), and / or video.that was recorded by one or more of the cameras 120, data collected by one or more of the proximity sensors 122, etc. Additionally or alternatively, the lane condition control 124 determines the traffic speed of the traffic on lane 204 adjacent to the vehicle 100 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.). Furthermore, in some examples, the lane condition control 124 collects the traffic speed of the traffic on lane 204 from a navigation system (e.g., an onboard navigation system, an external navigation system).When determining the traffic speed of lane 204, the lane condition control 124 compares the traffic speed of lane 204 with the lead vehicle speed of the lead vehicle 206 to determine whether the traffic speed of lane 204 allows vehicle 100 to overtake the lead vehicle 206.

[0030] Furthermore, when the lane condition controller 124 of the illustrated example determines that the lead vehicle speed is below the speed setting of vehicle 100, it also identifies a lane type for lane 202 (the current lane) and / or lane 204 (e.g., the adjacent lane) of road 200. In the illustrated example, the lane condition controller 124 determines the lane type of lane 202 and / or lane 204 of road 200 based on an image (or images) and / or video taken by camera 116, data collected by proximity sensor 118, an image (or images) and / or video taken by one or more of cameras 120, data collected by one or more of proximity sensors 122, etc. For example,The camera 116, one or more of the proximity sensors 118, one or more of the cameras 120, and / or one or more of the proximity sensors 122 are configured to capture information contained in the road sign 210, in lane markings 216 of the road 200, and / or light indicators (e.g., a turn signal) of the lead vehicle 206 and / or vehicle 100, indicating the lane type. Additionally or alternatively, the lane condition controller 124 determines the lane type of lane 202 and / or lane 204 via V2V and / or V2X communication received by the communication module 112 of vehicle 100 (e.g., from the communication module 212 of the lead vehicle 206, the communication module 214 of vehicle 208, an infrastructure-based DSRC module, etc.). Furthermore, in some examples, the track condition control 124 collects the track type of track 202 and / or track 204 from a navigation system (e.g.an onboard navigation system, an external navigation system).

[0031] Upon identifying the lane type of lane 202 and / or lane 204, the lane condition control 124 determines whether the lane type corresponds to an overtaking condition or a no-overtaking condition. Examples of lane types that correspond to no-overtaking conditions include lanes in residential areas, no-overtaking zones, and merging lanes (e.g., on ramps), splitting lanes (e.g., coming down ramps), etc. In some examples, the lane condition control 124 is disabled when it is determined that vehicle 100 is in a residential area and enabled when it is determined that vehicle 100 is on a highway and / or expressway. In the illustrated example, the lane condition control 124 determines that the lane types of the section of road 200 along which vehicle 100 is traveling correspond to an overtaking condition (e.g., on a highway and / or expressway).For example, the lane condition control 124 determines that the lane types correspond to an overtaking condition, based on the lane markings 216 of the road 200, a detected direction indicator state of the lead vehicle 206 and / or the vehicle 208, the road sign 210, a navigation system, V2V communication, V2X communication, etc.

[0032] Furthermore, 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 the determination of the following: (i) that the traffic speed in lane 204 is higher than the lead vehicle speed of the lead vehicle 206, and (ii) that the lane type(s) of lane 202 and lane 204 of road 200 meet an overtaking condition. For example, the cluster output 102, the display 104, the loudspeakers 106, and / or other output device will instruct the driver of vehicle 100 to change lanes into lane 204 to overtake the lead vehicle 206 when the signal sent by the lane condition controller 124 is received.Additionally or alternatively, the ECU(s) perform adaptive cruise control to autonomously steer vehicle 100 into lane 204 to overtake the lead vehicle 206 when the signal sent by the lane condition control 124 is received.

[0033] In some examples, the lane condition control 124 also monitors the distance traveled while the lead vehicle 206's speed is below the speed setting of vehicle 100, for example, to account for situations where vehicle 100 is stopped at a red light and / or surrounded by traffic congestion. For instance, if vehicle 100 travels a short distance (e.g., less than 1 meter) for a predetermined period while the lead vehicle's speed is below the speed setting, the lane condition control 124 determines that vehicle 100 is stopped at a red light and / or in a traffic jam. Therefore, the lane condition control 124 does not send a warning to the lead vehicle 206 and / or does not send a signal to overtake the lead vehicle 206. If vehicle 100 travels a greater distance for the predetermined period (e.g.,Hundreds or thousands of meters), while the lead vehicle's speed is below the speed setting, the lane condition control 124 determines that vehicle 100 is traveling on a highway and / or expressway. The lane condition control 124 thus sends a warning to the lead vehicle 206 and / or sends a signal to overtake the lead vehicle 206 when it is determined that the lead vehicle's speed is below the speed setting.

[0034] Fig. Figure 3 illustrates how vehicle 100 approaches the lead vehicle 206 in a non-overtaking condition. As in Fig. As illustrated in Figure 3, road 300 includes lane 302 and another lane 304 adjacent to lane 302, each intended for vehicles traveling in the same direction. In the illustrated example, vehicle 100, acting as the lead vehicle 206, travels in lane 302, and vehicle 208 travels in lane 304 adjacent to vehicle 100.

[0035] In the illustrated example, the adaptive cruise control of vehicle 100 is activated. While the adaptive cruise control is activated, the lane condition control 124 of vehicle 100 identifies that vehicle 100 is driving behind the lead vehicle 206. For example, the lane condition control 124 detects that vehicle 100 is behind the lead vehicle 206. Fig. 2 is driving. Upon identifying the presence of the lead vehicle 206, the lane condition control 124 of vehicle 100 determines whether the lead vehicle speed of the lead vehicle 206 is lower and / or slower than the speed setting of the adaptive cruise control of vehicle 100.

[0036] The lane condition control 124 also determines the vehicle type of the lead vehicle 206. In the illustrated example, in response to determining the following, the lane condition control 124 sends a warning from the communication module 112 to the communication module 214 of the lead vehicle 206: (i) that the lead vehicle speed of the lead vehicle 206 is below the speed setting of vehicle 100, and (ii) that the lead vehicle 206 is a passenger car (e.g., not a semi-trailer truck, an emergency vehicle, and / or another type of vehicle that must travel at a lower speed).Alternatively, the lane condition control 124 does not send the warning to the lead vehicle 206 if the lane condition control 124 determines that the lead vehicle 206 is a semi-trailer truck, an emergency vehicle and / or another type of vehicle that must travel at a lower speed.

[0037] Upon determining that the lead vehicle speed is below the speed setting of vehicle 100, the lane condition controller 124 of the illustrated example also identifies a lane type for lane 302 (the current lane) and / or lane 304 (e.g., the adjacent lane) of road 300. In the illustrated example, the lane condition controller 124 determines the lane type of lane 302 and / or lane 304 of road 300 based on an image (or images) and / or video captured by camera 116, data collected by proximity sensor 118, an image (or images) and / or video captured by one or more of cameras 120, data collected by one or more of proximity sensors 122, and so on.This means that camera 116, one or more proximity sensors 118, one or more cameras 120, and / or one or more proximity sensors 122 are configured to acquire information contained on the road sign 306, in lane markings 308 of road 300, and / or light indicators (e.g., a turn signal) of the lead vehicle 206 and / or vehicle 100, indicating the lane type. For example, when the lane condition control 124 gathers information contained on the road sign 306, identifies the lane markings 308 of road 300, and / or detects that the left turn signal of the lead vehicle 206 is activated, it detects that lane 302 and lane 304 merge.Additionally or alternatively, the lane condition control 124 determines the lane type of lane 302 and / or lane 304 via V2V and / or V2X communication received by the communication module 112 of vehicle 100 (e.g., from the communication module 212 of the lead vehicle 206, the communication module 214 of vehicle 208, an infrastructure-based DSRC module, etc.). Furthermore, in some examples, the lane condition control 124 collects the lane type of lane 202 and / or lane 204 from a navigation system.

[0038] In the illustrated example, the lane condition controller 124 determines that the lane type corresponds to a no-overtaking condition. This means that upon identifying that the lane type of lane 302 is a merging lane (e.g., from a ramp), the lane condition controller 124 determines that the lane type corresponds to a no-overtaking condition. In other examples, lane types that correspond to no-overtaking conditions include residential areas, no-overtaking zones, split lanes (e.g., from ramps), and so on. In response to determining that the lane type in which vehicle 100 is traveling corresponds to a no-overtaking condition, the lane condition controller 124 in the illustrated example does not send a signal to overtake the lead vehicle 206 by changing lanes.

[0039] Fig. Figure 4 is a block diagram of electronic components 400 of the vehicle 100. As in Fig. As illustrated in Figure 4, the electronic components 400 include an on-board computing platform 402, an infotainment main unit 404, the GPS receiver 108, the communication module 112, the communication module 114, cameras 406, sensors 408, electronic control units (ECUs) 410 and a vehicle data bus 412.

[0040] The onboard computing platform 402 includes a microcontroller unit, a controller or processor 414, and a memory 416. In some examples, the processor 414 of the onboard computing platform 402 is structured to include the lane condition control 124. Alternatively, in some examples, the lane condition control 124 is integrated into another electronic control unit (ECU) (e.g., an autonomy unit, a speed control unit, a brake control module) with its own processor 414 and memory 416.The processor 414 can be any suitable processing device or set 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 volatile memory (e.g., RAM, including non-volatile RAM, magnetic RAM, ferroelectric RAM, etc.), non-volatile memory (e.g., disk memory, FLASH memory, EPROMs, EEPROMs, memristor-based non-volatile solid-state memory, etc.), immutable memory (e.g., EPROMs), read-only memory, and / or high-capacity storage devices (e.g., hard disks, solid-state drives, etc.).In some examples, memory 416 includes several types of memory, in particular volatile memory and non-volatile memory.

[0041] Memory 416 is a computer-readable medium on which one or more sets of instructions, such as the software for executing the methods of this disclosure, may be embedded. The instructions may implement one or more of the methods or logic as described herein. For example, during execution, the instructions may reside wholly or at least partially in any one or more of memory 416, the computer-readable medium, and / or the processor 414.

[0042] The terms “non-transitory computer-readable medium” and “computer-readable medium” include one or more media, such as a centralized or distributed database and / or associated caches and servers, on which one or more sets of instructions are stored. Furthermore, the terms “non-transitory computer-readable medium” and “computer-readable medium” include any physical medium capable of storing, encrypting, or carrying a set of instructions for execution by a processor, or capable of causing a system to perform any one or more of the methods or operations disclosed herein. As used herein, the term “computer-readable medium” is expressly defined to include any type of computer-readable storage device and / or storage disk and to exclude signal propagation.

[0043] The infotainment main unit 404 provides an interface between the vehicle 100 and a user. The infotainment main unit 404 includes digital and / or analog interfaces (e.g., input devices and output devices) to receive input from the user(s) and to display information to them. The input devices include, for example, a control knob, a dashboard, a digital camera for image capture and / or visual command recognition, a touchscreen, an audio input device (e.g., a cabin microphone), buttons, or a touch panel. The output devices can include the cluster output 102, other instrument cluster outputs (e.g., rotary dials, lighting devices), actuators, a front display, the display 104 (e.g.,a center console display, such as a liquid crystal display (LCD), an organic light-emitting diode display (OLED), a flat-panel display, a solid-state display, etc., and / or the speakers 106. In the illustrated example, the infotainment head unit 404 includes hardware (e.g., a processor or controller, memory, data storage, etc.) and software (e.g., an operating system, etc.) for an infotainment system (such as Ford SYNC® and MyFord Touch®). Additionally, the infotainment head unit 404 displays the infotainment system, for example, on the display 104.

[0044] The cameras 406 capture image(s) and / or video of the area surrounding the vehicle 100. For example, in the illustrated example, the cameras 406 include camera 116 and camera 120, which capture image(s) and / or video of the area surrounding the vehicle 100 to enable the lane condition control 124 to determine lane conditions of the area surrounding the vehicle 100. Furthermore, in some examples, the cameras 406 capture image(s) and / or video that are displayed to an occupant of the vehicle 100 (e.g., via the display 104) and / or are used to assist the vehicle 100 in performing autonomous and / or semi-autonomous driving maneuvers.

[0045] The sensors 408 are arranged in and around the vehicle 100 to monitor characteristics of the vehicle 100 and / or an environment in which the vehicle 100 is located. One or more of the sensors 408 may be mounted around an exterior surface of the vehicle 100 to measure characteristics. Additionally or alternatively, one or more of the sensors 408 may be mounted inside a cabin of the vehicle 100 or in a body of the vehicle 100 (e.g., an engine compartment, wheel wells, etc.) to measure characteristics in an interior space of the vehicle 100. The sensors 408 include, for example, accelerometers, odometers, speedometers, pitch and yaw sensors, wheel speed sensors, microphones, tire pressure sensors, biometric sensors, and / or sensors of any other suitable type.In the illustrated example, the sensors 408 include the vehicle speed sensor 110, the proximity sensor 118 and the proximity sensors 122.

[0046] The ECUs 410 monitor and control the subsystems of the vehicle 100. For example, the ECUs 410 are discrete sets of electronic components that include their own circuitry (e.g., integrated circuits, microprocessors, RAM, data storage, etc.) and firmware, sensors, actuators, and / or mounting hardware. The ECUs 410 communicate and exchange information via a vehicle data bus (e.g., the vehicle data bus 412). Furthermore, the ECUs 410 can communicate properties to each other (e.g., ECU 410 status, sensor readings, control state, fault and diagnostic codes, etc.) and / or receive requests from each other. The vehicle 100, for example, may have seventy or more ECUs 410 positioned at various locations around the vehicle 100 and communicatively linked via the vehicle data bus 412.

[0047] In the illustrated example, the ECUs 410 include 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, at least partially, based on an image (or images) and / or video captured by one or more of the cameras 406, and / or data collected by one or more of the sensors 408. The Speed ​​Control Unit 420 autonomously controls the speed at which the vehicle 100 moves, at least partially, based on an image (or images) and / or video captured by one or more of the cameras 406, and / or data collected by one or more of the sensors 408.Furthermore, the brake control module 422 autonomously activates the brakes of the vehicle 100, at least partially, on the basis of an image (or images) and / or a video recorded by one or more of the cameras 406, and / or data collected by one or more of the sensors 408.

[0048] The vehicle data bus 412 provides communication links to the GPS receiver 108, the communication module 112, the communication module 114, the on-board computing platform 402, the infotainment main unit 404, the cameras 406, the sensors 408, and the ECUs 410. In some examples, the vehicle data bus 412 includes one or more data buses. The vehicle data bus 412 can be implemented in accordance with a Controller Area Network (CAN) bus protocol as defined by the International Standards Organization (ISO) 11898-1, a Media-Oriented Systems Transport (MOST) bus protocol, a CAN Flexible Data (CAN FD) bus protocol (ISO 11898-7) and / or a K-line bus protocol (ISO 9141 and ISO 14230-1) and / or an Ethernet™ bus protocol IEEE 802.3 (from 2002 onwards), etc.

[0049] Fig. Figure 5 is a flowchart of an exemplary procedure 500 for sensing lane conditions while a vehicle's adaptive cruise control is activated. The flowchart from Fig. 5 is representative of machine-readable instructions stored in a memory (such as memory 416 from Fig. 4) are stored and contain one or more programs which, when executed by a processor (such as the 414 processor from Fig. 4) cause vehicle 100 to activate the exemplary lane condition control 124 Fig. 1-4 to implement. While the exemplary program refers to the one in Fig. As described in the illustrated flowchart 5, many other methods can alternatively be used to implement the exemplary track condition control 124. For example, the execution sequence of the blocks can be rearranged, changed, eliminated, and / or combined to perform procedure 500. Since procedure 500, in conjunction with the components from Fig. Furthermore, as disclosed in 1-4, some functions of these components are not described in detail below.

[0050] Initially, the lane condition control 124 determines at block 502 whether adaptive cruise control is activated for vehicle 100. If lane condition control 124 determines that adaptive cruise control is not activated, procedure 500 remains at block 502. Otherwise, if lane condition control 124 determines that adaptive cruise control is activated, procedure 500 proceeds to block 504. At block 504, lane condition control 124 determines a speed setting for the adaptive cruise control of vehicle 100.

[0051] At block 506, the lane condition controller 124 determines whether a lead vehicle (e.g., the lead vehicle 206) has been detected. For example, the lane condition controller 124 detects the lead vehicle 206 via the camera 116, the proximity sensor 118, V2V and / or V2X communication received by the communication module 112, etc. In response to the lane condition controller 124 not detecting the lead vehicle 206, procedure 500 returns to block 502. Otherwise, in response to the lane condition controller 124 detecting the presence of the lead vehicle 206, procedure 500 proceeds to block 508, where the lane condition controller 124 determines the lead vehicle speed of the lead vehicle 206.For example, the lane condition control 124 detects the lead vehicle speed via camera 116, proximity sensor 118, V2V and / or V2X communication received by communication module 112, etc. At block 510, the lane condition control 124 determines whether the adaptive cruise control speed setting of vehicle 100 is higher than the lead vehicle speed of the lead vehicle 206. In response to the lane condition control 124 determining that the speed setting is not higher than the lead vehicle speed, procedure 500 returns to block 502. Otherwise, in response to the lane condition control 124 determining that the speed setting is higher than the lead vehicle speed, procedure 500 proceeds to block 512.

[0052] At block 512, the lane condition control 124 identifies the lane type of the current lane (e.g., lane 202 from Fig. 2, the track 302 from Fig. 3) and / or the adjacent track (e.g. track 204 from Fig. 2, of track 304 from Fig. 3) the street (e.g., street 200 from Fig. 2, the street 300 from Fig.3) For example, the lane condition controller 124 identifies the lane type to determine whether an overtaking or no-overtaking condition applies to the section of road where the vehicle 100 is located. Example lane types include residential lanes, overtaking zones, no-overtaking zones, merging lanes, splitting lanes, etc. The lane condition controller 124 is intended to identify the lane type via the camera 116, the proximity sensor 118, one or more of the cameras 120, one or more of the proximity sensors 122, V2V and / or V2X communication received by the communication module 112, a navigation system, etc. At block 514, the lane condition controller 124 determines, based on the lane type, whether the vehicle 100 is in a position to change lanes.For example, vehicle 100 is in a lane-changing position if an overtaking condition applies to the section of road where vehicle 100 is located, and vehicle 100 is not in a lane-changing position if a no-overtaking condition applies to the section of road where vehicle 100 is located. In response to the lane-changing control 124 determining that vehicle 100 is not in a lane-changing position, procedure 500 proceeds to block 526. Otherwise, in response to the lane-changing control 124 determining that vehicle 100 is in a lane-changing position, procedure 500 proceeds to block 516.

[0053] At block 516, the lane condition controller 124 identifies the traffic speed in the adjacent lane. For example, the lane condition controller 124 identifies the traffic speed via camera 116, proximity sensor 118, one or more of cameras 120, one or more of proximity sensors 122, V2V and / or V2X communication received by communication module 112, a navigation system, etc. At block 518, the lane condition controller 124 determines whether the traffic speed exceeds the lead vehicle speed of the lead vehicle 206. In response to the lane condition controller 124 determining that the traffic speed does not exceed the lead vehicle speed, procedure 500 proceeds to block 526.Otherwise, in response to the lane condition control 124 determining that the traffic speed is higher than the lead vehicle speed, procedure 500 proceeds to block 520.

[0054] At block 520, the lane condition control 124 instructs the driver and / or operator of vehicle 100 (e.g., via cluster output 102, display 104, speakers 106, etc.) to perform a lane change. At block 522, the lane condition control 124 causes the ECU(s) controlling the adaptive cruise control to steer vehicle 100 into the adjacent lane to overtake the lead vehicle 206. For example, the lane condition control 124 sends a signal to cause the instructions to be displayed and / or to initiate the autonomous lane change.

[0055] At block 524, the lane condition controller 124 identifies the vehicle type of the lead vehicle 206. For example, the lane condition controller 124 identifies the lead vehicle via the camera 116, the proximity sensor 118, V2V and / or V2X communication received by the communication module 112, etc. At block 526, the lane condition controller 124 determines whether the lead vehicle 206 is a semi-trailer truck, an emergency vehicle, and / or another vehicle type that must travel at a lower speed than the speed limit for vehicle 100. In response to the lane condition controller 124 determining that vehicle 206 is a semi-trailer truck, an emergency vehicle, and / or another vehicle type that must travel at a lower speed, the procedure returns to block 502.Otherwise, in response to the Lane Conditioning Control 124 determining that the lead vehicle 206 is a passenger car, the procedure proceeds to Block 528, where the Lane Conditioning Control 124 sends a warning to the lead vehicle 206 via V2V communication, indicating that the lead vehicle 206 is traveling slowly.

[0056] In this application, the use of disjunction is intended to include conjunction. The use of definite or indefinite articles is not intended to indicate cardinality. In particular, a reference to "the" object or "a" object is also intended to denote one from a possible multitude of such objects. Furthermore, the conjunction "or" can be used to represent features that are present simultaneously, rather than mutually exclusive alternatives. In other words, the conjunction "or" is to be understood as including "and / or." The expressions "includes," "containing," and "include" are inclusive and each have the same scope as "comprises," "comprising," and "encompassing," respectively. Furthermore, the expressions "module" and "unit," as used herein, denote hardware with circuitry for providing communication, control, and monitoring functions, often in conjunction with sensors.A "module" and a "unit" can also include firmware that runs on the circuit.

[0057] The embodiments described above, and in particular any "preferred" embodiments, are possible examples and are presented only for a clear understanding of the principles of the invention. Many variations and modifications can be made to the embodiment(s) described above without substantially departing from the spirit and principles of the techniques described herein. Any such modifications are hereby included within the scope of this disclosure and protected by the following claims.

Claims

[1] Vehicle, comprising: a communication module for V2V communication; a camera for taking pictures; a control for the following: Identifying the vehicle type of a lead vehicle based on the images; Determining a lead vehicle speed; and Sending a warning via the communication module to the lead vehicle in response to the following determination: that the lead vehicle is a passenger car; and that the lead vehicle speed is below a speed setting for activated adaptive cruise control, the control system determines that the lead vehicle speed remains below the speed setting for a predetermined period before sending the warning to the lead vehicle. [2] Vehicle according to claim 1, wherein the control system does not send the warning to the lead vehicle in response to determining that the vehicle is a semi-trailer truck or an emergency vehicle. [3] Vehicle according to claim 1, wherein an ECU performing adaptive cruise control limits the speed setting to a speed less than or equal to a current speed limit. [4] Vehicle according to claim 1, wherein the control system determines the speed of the lead vehicle based on the images taken by the camera. [5] Vehicle according to claim 1, wherein the communication module receives the lead vehicle speed for control. [6] Vehicle according to claim 1, further comprising a proximity sensor for detecting the lead vehicle, wherein the control system determines the lead vehicle speed via data collected by the proximity sensor. [7] Vehicle according to claim 1, wherein the control system is to perform the following: Determining a traffic speed in an adjacent lane; and Comparing the traffic speed with the lead vehicle speed in response to determining that the lead vehicle speed is below the speed setting. [8] Vehicle according to claim 7, wherein the control system is to perform the following: Identifying a lane type of a current lane; and determining whether the lane type corresponds to an overtaking condition, in response to determining that the vehicle speed is below the speed setting. [9] Vehicle according to claim 8, wherein the control system sends a signal to overtake the lead vehicle in response to a determination of the following: The traffic speed is higher than the speed of the lead vehicle; and The lane type of the current lane corresponds to an overtaking condition. [10] Vehicle according to claim 9, wherein a no-overtaking condition includes at least one of the following: the lane type is a no-overtaking area, a merging lane, a split lane and a lane in a residential area. [11] Vehicle according to claim 9, further comprising a display which provides an indicator for changing lanes to the adjacent lane after receiving the signal from the control unit. [12] Vehicle according to claim 9, further comprising an ECU which, upon receiving the signal from the control unit, autonomously performs a lane change to the adjacent lane. [13] Vehicle according to claim 8, wherein the control system 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. [14] Vehicle according to claim 8, wherein the control system determines the lane type based on the images taken by the camera which indicate at least one of the lane markings of a road and a direction indicator state of the lead vehicle. [15] Procedures, including: Taking a picture with a camera; Identifying the vehicle type of a lead vehicle based on the image via a processor; Determining a lead vehicle speed via the processor; Sending a warning in response to the following determination via V2V communication to the lead vehicle: that the lead vehicle is a passenger car; and that the lead vehicle speed is below an active speed setting for adaptive cruise control; Identifying a track type of a current lane; Determining a traffic speed in an adjacent lane; and Sending a signal to overtake the lead vehicle in response to the following determination: The traffic speed is higher than the speed of the lead vehicle; and The lane type of the current lane corresponds to an overtaking condition.

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