Procedure and system

Abstract

According to exemplary embodiments, methods and systems are provided that include: receiving sensor data from one or more sensors of a vehicle; determining, via a processor of the vehicle using the sensor data, when a driver of the vehicle initiates a lane change maneuver for the vehicle into an adjacent lane; determining, via the processor using the sensor data, a target zone for the lane change maneuver, wherein the target zone comprises an area of ​​the adjacent lane into which the vehicle would turn when performing the lane change maneuver; and controlling, via the processor, the longitudinal movement of the vehicle so that the vehicle can effectively perform the lane change maneuver into the adjacent lane.

Description

[0001] The technical field generally refers to platforms such as vehicles and, in particular, to methods and systems for facilitating a lane-changing maneuver when initiated by a driver of the vehicle.

[0002] Many vehicles today have some form of automatic cruise control functionality. However, in certain situations, such technologies may not always be optimal, including facilitating a lane change maneuver initiated by the driver.

[0003] DE 10 2014 000 843 A1 describes a method and a driver assistance system for performing a lane change by a vehicle driving autonomously in its current lane to an adjacent target lane. The method is characterized by the fact that the lane change is initiated automatically by the vehicle or by an input in the vehicle, based on first location and movement data of the vehicle and second location and movement data of other vehicles driving in the target lane, the existence of a suitable gap in traffic for the lane change is determined, and if a suitable gap exists, the lane change is carried out autonomously by the vehicle.

[0004] DE 10 2018 221 862 A1 describes a method for the automated preparation and / or execution of a lane change in flowing traffic on a multi-lane road or an overtaking maneuver with an ego vehicle, as well as a driver assistance system for carrying out the method.To propose a method that enables smooth merging into a destination lane or smooth overtaking of a slower vehicle, depending on the traffic situation, it is proposed that the ego-vehicle has a driver assistance system with a sensor unit for monitoring and evaluating the traffic situation and the road ahead, wherein the ego-vehicle's driver assistance system maintains a substantially constant following distance to the vehicle ahead in a first lane until the driver assistance system registers an intention to change lanes or overtake, after which the following distance to the vehicle ahead is increased appropriately for the situation and subsequently acceleration in the first lane continues until the lane change or overtaking maneuver can be carried out at a relative speed appropriate to the situation.The driver assistance system for carrying out the procedure has a sensor unit with which the following distance and following speed to the vehicle in front can be monitored.

[0005] DE 10 2009 033 800 A1 describes a method for assisting a driver in preparing a lane change from an immediate lane to a target lane using a longitudinal control device located in the vehicle. The method comprises the following steps: detecting the driver's intention to change lanes, monitoring a pre-space of the adjacent target lane and the immediate lane using detectors, checking for the presence of vehicles and determining the speeds and accelerations of the vehicles detected during monitoring and the driver's own vehicle, determining the distances of the detected vehicles from the driver's own vehicle, identifying one of the vehicles detected in the target lane as the target vehicle behind which the driver can change lanes, determining a first target distance and a second target distance behind the target vehicle, and determining an acceleration value required for the driver's own vehicle.to dock behind the target vehicle at a distance on the instantaneous lane, control of the own vehicle on the instantaneous lane using the longitudinal control device to an acceleration value and after docking the own vehicle on the instantaneous lane at a distance behind the target vehicle, according to predefinable criteria,

[0006] DE 10 2006 043 149 A1 describes an integrated lateral and longitudinal guidance assistant for a motor vehicle. This assistant uses a trajectory calculation unit to determine a lane change trajectory from environmental sensor data when a sufficient gap for safe merging onto the target lane is detected. The trajectory calculation unit calculates this lane change trajectory, minimizing the impact on the vehicle behind it. Subsequently, depending on the determined lane change trajectory, a control unit issues a lateral guidance command to a lateral guidance control system and an acceleration command to a distance-based cruise control system.

[0007] DE 10 2020 117 159 A1 describes a driver assistance system for a motor vehicle with a lane-change function for performing an automated lane change with at least automated lateral guidance onto an exit, which is configured to determine, based on information from a map-based navigation system for route guidance, that a lane change onto an exit is necessary to follow the route guidance. The system is further configured, after determining that a lane change onto an exit is necessary, to determine an exit length for the lane change onto the exit based on information from the map-based navigation system, and to take the determined exit length into account in the lane-change function.

[0008] DE 10 2022 116 267 A1 describes a method for operating a lane change assistance system of a vehicle, comprising the following steps: acquiring environmental data describing the vehicle's surroundings, detecting other road users in the environment based on the environmental data, planning the trajectory of the lane change maneuver from an exit lane to a target lane, whereby a specific lateral dynamic acts on the vehicle during the lane change maneuver, determining a traffic density in the environment, where the traffic density describes a number, a distribution and / or a movement of the other road users, and adjusting the planned trajectory of the lane change maneuver to change the lateral dynamic during the lane change maneuver depending on the determined traffic density.

[0009] DE 10 2020 117 161 A1 describes a vehicle system for operating a lane change assistance function of a motor vehicle. The vehicle system is configured to determine that the vehicle should perform a route-related lane change in order to travel along a planned route. The vehicle system is further configured to determine a set of available gaps in an adjacent lane to which the vehicle should change lanes as part of the route-related lane change. Furthermore, the vehicle system is configured to select a gap for the route-related lane change from the set of available gaps such that a gap located in front of the vehicle has a higher priority than a gap located behind the vehicle, and to operate the lane change assistance function for the route-related lane change using the selected gap.

[0010] Accordingly, the object of the invention is to provide improved methods and systems for facilitating lane-changing maneuvers for a vehicle when initiated by a driver of the vehicle.

[0011] The object of the invention is achieved by a method comprising: obtaining sensor data from one or more sensors of a vehicle; determining, via a processor of the vehicle using the sensor data, when a driver of the vehicle initiates a lane-change maneuver for the vehicle into an adjacent lane; determining, via the processor using the sensor data, a target zone for the lane-change maneuver, wherein the target zone comprises an area of ​​the adjacent lane into which the vehicle would turn when performing the lane-change maneuver; and controlling, via the processor, the longitudinal movement of the vehicle so that the vehicle can effectively perform the lane-change maneuver into the adjacent lane.The vehicle's longitudinal movement is automatically controlled by the vehicle's processor, while the driver manually steers the vehicle laterally during the lane change maneuver by turning the steering wheel. The target zone determination step involves the processor selecting a target zone from a plurality of sufficiently large candidate zones to allow the vehicle to pass through without touching other vehicles or objects. The determination step involves the driver initiating the lane change maneuver into the adjacent lane, which includes both receiving a first indication of the lane change maneuver from sensor data and receiving a second indication of the lane change maneuver, also from sensor data, following the first indication.The step of determining the target zone includes: determining, via the processor after the first indication and before the second indication, an initial target zone prediction from the majority of target zone candidates for the lane change maneuver, and determining, via the processor after the second indication, an updated target zone prediction from the majority of target zone candidates for the lane change maneuver.The step of controlling the longitudinal motion includes: controlling, via the processor, the longitudinal motion of the vehicle after the first indication and before the second indication by setting a longitudinal speed of the vehicle so that the vehicle is on its way to effectively execute the lane change maneuver into the adjacent lane via the initial target zone prediction, and controlling, via the processor, the longitudinal motion of the vehicle after the second indication by setting the longitudinal speed of the vehicle so that the vehicle is on its way to effectively execute the lane change maneuver into the adjacent lane via the updated target zone prediction.

[0012] According to one embodiment, the longitudinal movement of the vehicle is automatically controlled by the vehicle's processor, while the driver manually performs a lateral movement of the vehicle during the lane change maneuver by operating the vehicle's steering wheel.

[0013] According to another embodiment, the step of determining the target zone includes determining, via the processor, the target zone from a plurality of target zone candidates of sufficient size to allow the vehicle to drive through them without touching other vehicles or other objects.

[0014] According to a further embodiment, the method further comprises determining, for each of the plurality of target zone candidates, whether the target zone candidate is of sufficient size, based on a position and movement of the vehicle and the other vehicles or other objects as obtained from the sensor data, together with pre-calibrated requirements regarding a driver-selected following distance for adaptive cruise control in relation to those of the other vehicles and other objects located in front of the vehicle, and a buffer in relation to those of the other vehicles and other objects located behind the vehicle.

[0015] According to another embodiment, the target zone is selected by the processor in such a way that the target zone includes a specific one of the majority of target zone candidates that is closest to the vehicle in terms of a distance from the vehicle to the target zone, a time from the vehicle to the target zone, or both.

[0016] According to another embodiment, the step of determining when the driver of the vehicle initiates the lane change maneuver for the vehicle into the adjacent lane comprises both: obtaining, via the sensor data, a first indication of the lane change maneuver and obtaining, via the sensor data, a second indication of the lane change maneuver following the first indication; the step of determining the target zone comprises determining, via the processor after the first indication and before the second indication, an initial target zone prediction from the plurality of target zone candidates for the lane change maneuver, and determining, via the processor after the second indication, an updated target zone prediction from the plurality of target zone candidates for the lane change maneuver; the step of controlling the longitudinal movement comprises: controlling, via the processor,the longitudinal movement of the vehicle after the first indication and before the second indication by setting a longitudinal speed of the vehicle so that the vehicle is on its way to effectively execute the lane change maneuver into the adjacent lane via the initial target zone prediction, and control, via the processor, the longitudinal movement of the vehicle after the second indication by setting the longitudinal speed of the vehicle so that the vehicle is on its way to effectively execute the lane change maneuver into the adjacent lane via the updated target zone prediction.

[0017] According to another embodiment, the first indication is based on the driver activating a direction indicator of the vehicle, and the first indication is based on the driver operating the steering wheel of the vehicle.

[0018] According to a further embodiment, the initial target zone prediction is performed by the processor after the first indication and before the second indication to be an initial selection from the plurality of target zone candidates as the nearest of the plurality of target zone candidates to the vehicle in terms of a time to travel there by the vehicle, and the updated target zone prediction is performed by the processor after the first indication and before the second indication to be an updated selection from the plurality of target zone candidates as the nearest of the plurality of target zone candidates to the vehicle in terms of a distance to travel there by the vehicle.

[0019] According to another embodiment, the time for the vehicle to travel to a specific majority of target zone candidates is determined by the processor in conjunction with the following equation: t1=−Vx1+Vx12−2*DclRate*Δx1DclRate, where “t1” represents the time to reach a specific target zone candidate, “V x1 “ represents the current speed of a target vehicle or object at the specified target zone candidate, “DclRate” represents a calibratable parameter based on an expected longitudinal deceleration rate response for the lane change maneuver, and “Δx1” represents the distance between the vehicle and the specified target zone candidate.

[0020] According to a further embodiment, the distance for driving by the vehicle to the specific of the plurality of target zone candidates is determined by the processor based on a distance from a front of the vehicle to a trailing edge of the specific target zone candidate when the specific target zone candidate is behind the vehicle, and a distance from a rear of the vehicle to a leading edge of the specific target zone candidate when the specific target zone candidate is in front of the vehicle.

[0021] According to a further embodiment, the method further comprises determining, via the processor using the sensor data, whether a trailer is attached to the vehicle; if it is determined that no trailer is attached to the vehicle, then determining, via the processor, the initial target zone prediction and the updated target zone prediction based on an entirety of the plurality of target zone candidates, regardless of whether the target zone candidates are in front of or behind the vehicle; and if, instead, it is determined that a trailer is attached to the vehicle, then determining, via the processor, the initial target zone prediction and the updated target zone prediction based instead on only a subset of the plurality of target zone candidates that are in front of the vehicle.

[0022] According to the invention, a system is also provided comprising one or more vehicle sensors and a processor. The one or more sensors are configured to receive sensor data. The processor is coupled to the one or more sensors and is configured to enable at least the following: determining, using the sensor data, when a driver of the vehicle initiates a lane-change maneuver for the vehicle into an adjacent lane; determining, using the sensor data, a target zone for the lane-change maneuver, wherein the target zone comprises an area of ​​the adjacent lane into which the vehicle would turn when performing the lane-change maneuver; and automatically controlling the longitudinal movement of the vehicle so that the vehicle can effectively perform the lane-change maneuver into the adjacent lane without touching other vehicles or other objects.The vehicle's longitudinal movement is automatically controlled by the vehicle's processor, while the driver manually steers the vehicle laterally during the lane change maneuver by turning the steering wheel. The target zone determination step involves the processor selecting a target zone from a plurality of sufficiently large candidate zones to allow the vehicle to pass through without touching other vehicles or objects. The determination step involves the driver initiating the lane change maneuver into the adjacent lane, which includes both receiving a first indication of the lane change maneuver from sensor data and receiving a second indication of the lane change maneuver, also from sensor data, following the first indication.The step of determining the target zone includes: determining, via the processor after the first indication and before the second indication, an initial target zone prediction from the majority of target zone candidates for the lane change maneuver, and determining, via the processor after the second indication, an updated target zone prediction from the majority of target zone candidates for the lane change maneuver.The step of controlling the longitudinal motion includes: controlling, via the processor, the longitudinal motion of the vehicle after the first indication and before the second indication by setting a longitudinal speed of the vehicle so that the vehicle is on its way to effectively execute the lane change maneuver into the adjacent lane via the initial target zone prediction, and controlling, via the processor, the longitudinal motion of the vehicle after the second indication by setting the longitudinal speed of the vehicle so that the vehicle is on its way to effectively execute the lane change maneuver into the adjacent lane via the updated target zone prediction.

[0023] According to one embodiment, the processor is further configured to enable at least the following: Determining, for each of the plurality of target zone candidates, whether the target zone candidate is of sufficient size, based on a position and movement of the vehicle and the other vehicles or other objects, as obtained from the sensor data, together with pre-calibrated requirements regarding a driver-selected following distance for adaptive cruise control with respect to those of the other vehicles and other objects located in front of the vehicle, and a buffer with respect to those of the other vehicles and other objects located behind the vehicle.

[0024] According to a further embodiment, the processor is further configured to enable at least the following: selection of the target zone such that the target zone includes a specific one of the plurality of target zone candidates that is closest to the vehicle in terms of a distance from the vehicle to the target zone, a time from the vehicle to the target zone, or both.

[0025] According to a further embodiment, the processor is further configured to enable at least the following: determining, after the first indication and before the second indication, an initial target zone prediction from the plurality of target zone candidates for the lane change maneuver; determining, after the second indication, an updated target zone prediction from the plurality of target zone candidates for the lane change maneuver; controlling the longitudinal movement of the vehicle after the first indication and before the second indication by setting a longitudinal speed of the vehicle so that the vehicle is on its way to effectively execute the lane change maneuver into the adjacent lane via the initial target zone prediction; and controlling the longitudinal movement of the vehicle after the second indication by setting the longitudinal speed of the vehicle so that the vehicle is on its way.to effectively execute the lane change maneuver into the adjacent lane using the updated target zone prediction.

[0026] According to a further embodiment, the processor is further configured to enable at least the following: determining the initial target zone prediction after the first indication and before the second indication, in order to be an initial selection from the plurality of target zone candidates as the nearest of the plurality of target zone candidates to the vehicle with respect to a time to travel there by the vehicle, and determining the updated target zone prediction after the first indication and before the second indication, in order to be an updated selection from the plurality of target zone candidates as the nearest of the plurality of target zone candidates to the vehicle with respect to a distance to travel there by the vehicle.

[0027] According to a further embodiment, the processor is further configured to enable at least the following: determining the time to travel through the vehicle to a specific plurality of target zone candidates in conjunction with the following equation: t1=−Vx1+Vx12−2*DclRate*Δx1DclRate, where “t1” represents the time to reach a specific target zone candidate, “V x1 “ represents the current speed of a target vehicle or object at the specified target zone candidate, “DclRate” represents a calibratable parameter based on an expected longitudinal deceleration rate response for the lane change maneuver, and “Δx1” represents the distance between the vehicle and the specified target zone candidate.

[0028] According to a further embodiment, the processor is further configured to enable at least the following: determining the distance for driving through the vehicle to the specified plurality of target zone candidates based on a distance from a front of the vehicle to a trailing edge of the specified target zone candidate when the specified target zone candidate is behind the vehicle, and a distance from a rear of the vehicle to a leading edge of the specified target zone candidate when the specified target zone candidate is in front of the vehicle.

[0029] According to a further embodiment, the processor is further configured to enable at least the following: Determining, using the sensor data, whether a trailer is attached to the vehicle; if it is determined that no trailer is attached to the vehicle, then determining the initial target zone prediction and the updated target zone prediction based on an entirety of the plurality of target zone candidates, regardless of whether the target zone candidates are in front of or behind the vehicle; and if, instead, it is determined that a trailer is attached to the vehicle, then determining the initial target zone prediction and the updated target zone prediction based instead on only a subset of the plurality of target zone candidates that are in front of the vehicle.

[0030] In one application, a vehicle is provided comprising: a body, a drive system configured to move the body, a braking system configured to control brakes for the body, a steering system configured to control steering for the body, wherein the steering system includes a steering wheel, and a system according to the invention and its embodiments.

[0031] The present description is further described below in conjunction with the following drawing figures, where identical reference symbols denote identical elements and where: Fig. 1 a functional block diagram of a vehicle which includes a control system for enabling a lane change maneuver initiated by a driver of the vehicle, including by automatically controlling the longitudinal movement of the vehicle when enabling the lane change maneuver; Fig. 2. A flowchart of a process for enabling a lane change maneuver, initiated by a driver of the vehicle, including by automatically controlling the longitudinal movement of the vehicle while enabling the lane change maneuver, and which, in conjunction with the vehicle, Fig. 1, including the tax system thereof; Fig. 3. A flowchart of specific steps in the process of Fig. 2, including prelateral and lateral movement steps; and Fig. 4 and Fig. 5 exemplary representations of implementations of the process of Fig. 2 and Fig. 3.

[0032] The following detailed description is merely exemplary. Furthermore, there is no intention to be bound to any theory presented in the preceding background or in the following detailed description.

[0033] Fig. Figure 1 illustrates a vehicle 100 according to an exemplary embodiment. As described in more detail below, the vehicle 100 includes, among other components, a control system 102 for enabling a lane-change maneuver initiated by a driver of the vehicle, according to exemplary embodiments. As described below in conjunction with Fig. 1 and the procedure 200 of Fig. 2 and Fig. 3 and the implementations of Fig. 4 and Fig. As described in more detail in section 5, the control system 102 in various embodiments uses vehicle sensor data to automatically control the longitudinal movement of the vehicle 100 when enabling the lane change maneuver initiated by a driver of the vehicle.

[0034] According to an exemplary embodiment, the vehicle 100 in this application can also be referred to as the “host vehicle” 100. Furthermore, according to an exemplary embodiment, when the lane-changing maneuver is planned and executed, other vehicles or objects that may be in the vicinity of the vehicle 100 (and which the control system 102 takes into account with respect to the lane-changing maneuver) can also be referred to in this application as “target vehicles”, “other vehicles”, “other objects”, or the like.

[0035] In various embodiments, the vehicle 100 comprises an automobile, such as any one of a number of different types of automobiles, for example, a sedan, a station wagon, a truck, an off-road vehicle (sport utility vehicle - SUV), or the like. In certain embodiments, the vehicle 100 may also comprise a motorcycle or another vehicle, such as an aircraft, a spacecraft, a watercraft, and so on, and / or one or more other types of mobile platforms (e.g., a robot and / or another mobile platform).

[0036] In the illustrated embodiment, the vehicle 100 comprises a body 104 mounted on a chassis 116. The body 104 essentially encloses other components of the vehicle 100. The body 104 and the chassis 116 can together form a frame. The vehicle 100 also includes a plurality of wheels 112. The wheels 112 are each rotatably coupled to the chassis 116 near a respective corner of the body 104 to enable the movement of the vehicle 100. In one embodiment, the vehicle 100 includes four wheels 112, although this may vary in other embodiments (for example, for trucks, motorcycles, and certain other vehicles).

[0037] A drive system 110 is mounted on the chassis 116 and drives the wheels 112, for example via axles 114. In certain embodiments, the drive system 110 comprises a drive system with a motor 113 (which, for example, in various embodiments includes one or more internal combustion engines, electric motors, or the like).

[0038] As in Fig. As shown in Figure 1, the vehicle in various embodiments also includes a braking system 106 and a steering system 108. In exemplary embodiments, the braking system 106 controls the braking of the vehicle 100 using brake components that are controlled by inputs provided by a driver (e.g. via a brake pedal 107) in certain situations and by a control system (including the control system 102) in certain situations.

[0039] In exemplary embodiments, the steering system 108 also controls the steering of the vehicle 100 via steering components that are controlled by inputs provided by a driver (e.g., via a steering wheel 109) in certain situations and also automatically by a control system (including the control system 102) in certain situations. In the illustrated embodiment, the steering system 108 also includes or is coupled to a turn signal 111, which is operated by a driver of the vehicle 100 to indicate when the driver intends to change lanes or make a turn for the vehicle 100.

[0040] In the Fig. In the embodiment shown in Figure 1, the control system 102 is coupled to the braking system 106, the steering system 108, and the drive system 110, and controls their operation and functionality. Also in various embodiments, the control system 102 facilitates a lane-change maneuver initiated by the driver of the vehicle 100, according to method 200, as shown in Figure 1. Fig. 2 and Fig. 3 and the implementations of Fig. 4 and Fig. 5 is shown and described further below in connection with it.

[0041] Likewise, as in Fig. As shown in Figure 1, the control system 102 in various embodiments includes a sensor arrangement 120, a display 130 and a control unit 140, as described in more detail below.

[0042] In various embodiments, the sensor arrangement 120 includes different sensors that receive sensor data regarding inputs used by the control system 102 to facilitate a lane-change maneuver initiated by a driver of the vehicle 100, in exemplary embodiments. In the illustrated embodiment, the sensor arrangement 120 includes one or more steering sensors 122, radar sensors 124, cameras 126, speed sensors 127, and accelerometers 128. In certain embodiments, the sensor arrangement 120 may further include one or more other sensors 129 (e.g., for receiving other inputs, obtaining other acquisition data, and / or obtaining various operating parameters, environmental conditions, and the like).

[0043] In various embodiments, the steering sensors 122 detect the driver's operation of the steering wheel 109 and the turn signal 111 and include the driver's intention to steer the vehicle 100 (including in lane-changing maneuvers as described herein). In certain embodiments, some of the steering sensors 122 detect the driver's operation of the turn signal 111, while other steering sensors 122 detect the driver's operation of the steering wheel 109. In certain embodiments, such steering sensors 122 may be part of, integrated with, and / or otherwise coupled to the turn signal 111 or the steering wheel 109.

[0044] In various embodiments, the radar sensors 124 detect other vehicles and / or other objects near the vehicle 100, including those that could influence a lane-change maneuver requested by the driver. In certain embodiments, the radar sensors 124 include both short-range and long-range radar sensors.

[0045] The cameras 126 are also configured in various embodiments to receive visual input regarding a roadway on which the vehicle 100 is traveling, including other vehicles and other objects near the vehicle 100 that may influence the lane change maneuver initiated by the driver.

[0046] In various embodiments, the speed sensors 127 measure the speed of the vehicle 100. In certain embodiments, the speed sensors 127 comprise one or more wheel speed sensors that are part of or coupled to one or more of the wheels 112.

[0047] In various embodiments, the accelerometers 128 measure an acceleration of the vehicle 100.

[0048] In certain embodiments, the other sensors 129 of the sensor arrangement 120 may include one or more input sensors (e.g., regarding a desired lane change and / or one or more adaptive cruise control settings, and so on), one or more other types of detection sensors (e.g., regarding one or more lidar, sonar, and / or other detection sensors for detecting other vehicles and objects that may be near the vehicle 100, and / or for detecting whether a trailer is attached to the vehicle 100, and so on), and / or one or more other types of sensors for obtaining sensor data regarding various operating parameters, environmental conditions, and the like).

[0049] In various embodiments, each of the sensors of the sensor arrangement 120 is arranged inside or on the vehicle 100, such as on the body 104 and / or one or more other components thereof.

[0050] In various embodiments, the display 130 provides information to the driver, including information regarding the facilitation of a lane-changing maneuver by the vehicle's control system 102. As in Fig. As shown in Figure 1, the display 130 in certain embodiments includes an audio component 132 (including one or more loudspeakers) in addition to a visual (or video) component 134 (including one or more display screens) and one or more haptic components 135 (e.g. vibration of the driver's seat or steering wheel or the like).

[0051] In various embodiments, the control unit 140 is coupled to the sensor arrangement 120 in addition to the braking system 106, the steering system 108, the drive system 110, and the display 130. Also in various embodiments, the control unit 140 receives sensor data from the sensor arrangement 120, interprets and processes the sensor data, and provides instructions to the braking system 106 and the drive system 110 for automatically controlling the longitudinal movement of the vehicle 100 to enable a lane-change maneuver initiated by a driver of the vehicle 100, as determined using the sensor data. In certain embodiments, the control unit 140 further provides instructions to the display 130 to provide notifications during or regarding such events.

[0052] In various embodiments, the controller 140 provides these functions according to the steps of process 200, which is described in Fig. 2 and Fig. 3 shown and further below in connection with it and further in connection with the implementations of Fig. 4 and Fig. 5 is described in more detail, also described in more detail below.

[0053] As in Fig. Figure 1 shows that the control unit 140 in various embodiments comprises a computer system (hereinafter also referred to as computer system 140) and includes a processor 142, a memory 144, an interface 146, a storage device 148 and a computer bus 150.

[0054] The processor 142 performs the calculation and control functions of the controller 140 and can comprise any type of processor or multiple processors, individual integrated circuits such as a microprocessor, or any suitable number of integrated circuit devices and / or printed circuit boards working together to perform the functions of a processing unit. During operation, the processor 142 executes one or more programs 152 contained in the memory 144 and, as such, controls the general operation of the controller 140 and the controller 140's computer system, generally when executing the processes described herein, such as process 200 of Fig. 2 and Fig. 3 and the implementations of Fig. 4 and Fig. 5 and further below in connection with it.

[0055] The memory 144 can be any suitable type of memory, including various types of non-volatile, computer-readable storage medium. In certain examples, the memory 144 is located on the same computer chip as the processor 142 and / or is located together on the same chip. In the embodiment shown, the memory 144 stores the program 152 mentioned above, along with stored values ​​157 (e.g., lookup tables, thresholds, and / or other values ​​relating to the method 200).

[0056] Interface 146 enables communication with the computer system of the controller 140, for example, from a system operator and / or another computer system, and can be implemented using any suitable method and device. In one embodiment, interface 146 receives various data from the sensor arrangement 120, among other possible data sources. Interface 146 can include one or more network interfaces for communication with other systems or components. Interface 146 can also include one or more network interfaces for communication with technicians and / or one or more memory interfaces for connecting to storage devices, such as the storage device 148.

[0057] The storage device 148 can be any suitable type of storage device, including various types of random-access memory and / or other storage devices. In an exemplary embodiment, the storage device 148 comprises a program product from which the memory 144 can receive a program 152 that executes one or more embodiments of one or more processes of the present description, such as the steps of process 200 of Fig. 2 and Fig. 3 and implementations of Fig. 4 and Fig. 5 and further below in connection therewith. In another exemplary embodiment, the program product can be stored directly in memory 144 and / or a disk (e.g. disk 156), such as those mentioned below, and / or accessed in another way.

[0058] Bus 150 is used to transmit programs, data, status, and other information or signals between the various components of the controller 140's computer system. Bus 150 can be any suitable physical or logical means for connecting computer systems and components. This includes, but is not limited to, direct hard-wired connections, fiber optic, infrared, and wireless bus technologies. During operation, program 152 is stored in memory 144 and executed by processor 142.

[0059] It is understood that, while this exemplary embodiment is described in the context of a fully functional computer system, the person skilled in the art will recognize that the mechanisms of the present description can be distributed as a program product with one or more types of non-volatile, computer-readable signal-carrying media used to store the program and its instructions and to carry out its distribution, such as a non-volatile, computer-readable medium carrying the program and containing computer instructions stored therein to cause a computer processor (such as processor 142) to carry out and execute the program.

[0060] Fig. Figure 2 shows a flowchart of a process 200 for enabling a lane-change maneuver initiated by the driver of a vehicle, according to an exemplary embodiment. In various embodiments, the process 200 automatically controls the longitudinal motion (e.g., including longitudinal speed and acceleration) of the vehicle 100 to enable the lane-change maneuver after initiation by the driver (while in one embodiment the driver controls the lateral steering of the vehicle 100). Also in various embodiments, the process 200, in conjunction with the vehicle 100, can be Fig. 1, including the tax system 102 thereof, will be implemented. Procedure 200 is also discussed further below in connection with Fig. 3 (which represents an exemplary embodiment of certain steps of process 200, namely with respect to prelateral movement and lateral movement for the vehicle 100), together with Fig. 4 and Fig. 5 (which represent exemplary implementations of process 200) described.

[0061] As in Fig. As shown in Figure 2, the process 200 begins at 202 in various embodiments. In certain embodiments, the process 200 begins when the vehicle 100 is being driven by a driver during an actual vehicle journey. In various embodiments, the steps of process 200 are preferably continued continuously throughout the entire duration of the vehicle journey.

[0062] In various embodiments, sensor data are obtained (step 202). In particular, in certain embodiments, sensor data from each of the sensors of the sensor arrangement 120 are obtained according to Fig. 1 received, including in respect of user inputs from a driver of the vehicle 100 regarding steering the vehicle 100 together with any initiation or indication of a lane change via the steering wheel 109 and / or the turn signal 111 (e.g. via the steering sensors 122), in addition to operating parameters of the vehicle 100 including its speed and acceleration (via speed sensors 127 and accelerometers 128, respectively), together with detection and information regarding one or more other vehicles or other objects in the vicinity of the vehicle 100 (via the radar sensors 124 and / or cameras 126), in addition in certain embodiments to information regarding traffic and road conditions, and so on.

[0063] In various embodiments, when procedure 200 begins, the vehicle starts in a deactivated state (step 203). In certain embodiments, both automatic cruise control and automatic lane centering functionality are deactivated during this state.

[0064] In various embodiments, conditions for procedure 200 are activated when automatic adaptive cruise control is activated for vehicle 100, while automatic lane centering control is deactivated for vehicle 100 (step 204). Accordingly, in one exemplary embodiment, during this condition the driver retains steering control (including for lateral control such as lane changes), whereas control 140 is taken over by Fig. 1 (including the processor 142 thereof) maintains longitudinal control (including for accelerating and decelerating the vehicle 100). In various embodiments, this condition is detected by the processor 142 via the sensor data (e.g., as received from one or more input sensors of the other sensors 129 of the sensor arrangement).

[0065] In various embodiments, the vehicle 100 remains in an inactive state (step 206) until the driver indicates an intention to change lanes or initiate a lane change. In particular, in various embodiments, the processor 142 controls the longitudinal movement of the vehicle 100 during this state, regardless of any lane changes. Also in certain embodiments, the processor 142 maintains a predetermined distance or time behind one or more target vehicles that may be in front of the vehicle 100 during this phase and / or maintains a constant longitudinal speed for the vehicle 100, depending on the circumstances.

[0066] In various embodiments, an initial lane change detection is performed (step 208). In particular, in certain embodiments, detection is carried out by one or more steering sensors 122. Fig. 1, that the driver switches off the direction indicator 111 Fig. 1 has been activated, and / or the processor 142 performs this determination based on the sensor data.

[0067] In various embodiments, an initial lane change detection is performed (step 208). In particular, in certain embodiments, detection is carried out by one or more steering sensors 122. Fig. 1, that the driver switches off the direction indicator 111 Fig. 1 has been activated, and / or the processor 142 performs this determination based on the sensor data.

[0068] Also in various embodiments, prelateral movement actions are performed (step 210). In particular, in various embodiments, the processor 142 performs various determinations and appropriate actions regarding the longitudinal movement of the vehicle 100 during step 210 based on (and following) the direction indication provided by the driver, including determining one or more probable windows for turning into the desired lane, determining the longitudinal speed and acceleration required to reach the one or more probable windows, and executing the longitudinal movement of the vehicle 100 to reach these ends. The prelateral movement actions of step 210 are described further below in conjunction with Fig. 3 is described in more detail according to an exemplary embodiment.

[0069] In various embodiments, a subsequent lane change detection is performed (step 212), namely a second indication of the lane change maneuver, which is provided by the driver. In particular, in certain embodiments, detection is carried out by one or more steering sensors 122. Fig. 1, that the driver turns the steering wheel 109 off Fig. 1 in the same direction as the direction indicator and has been actuated by at least a predetermined number of degrees of rotation (which are calibrated in various embodiments and stored in memory 144) Fig. 1 can be stored as one of the values ​​stored therein (157).

[0070] Lateral motion actions are also performed in various embodiments (step 214). In particular, in various embodiments, the processor 142 performs various determinations and appropriate actions regarding the longitudinal motion of the vehicle 100 during step 214 based on (and after) the driver's operation of the steering wheel 109, including determining one or more probable windows for turning into the desired lane, determining the longitudinal speed and acceleration required to reach the one or more probable windows, and executing the longitudinal motion of the vehicle 100 to achieve these objectives. The lateral motion actions of step 214 are described further below in conjunction with Fig. 4 is described in more detail according to an exemplary embodiment.

[0071] According to an exemplary embodiment, the prelateral movement actions of step 210 and the lateral movement actions of step 214 are also collectively referred to as combined actions 211 in Fig. 2, and these combined actions 211 are (as mentioned above) further discussed below in connection with Fig. 3 is described in more detail according to an exemplary embodiment.

[0072] With further reference to Fig. 2 In various embodiments, determinations are also made during the prelateral movement stage control 210 as to whether abort conditions are met (step 216). In particular, in various embodiments, the processor 142 determines during step 216 whether abort conditions are met that would lead to the aborting of the lane change. In certain embodiments, the abort conditions of step 216 include the following: (1) the time spent searching for an acceptable window to enter the desired lane has exceeded a predetermined value; or (2) the driver switches off the turn signal 111.

[0073] If one or more such abort conditions are determined in step 216 in various embodiments, the lane change is aborted in various embodiments (step 220). In various embodiments, the processor 142 provides one or more notifications to the driver via the display 130 during step 220. Fig. 1. Prepared (e.g., including one or more audible, visual, and / or haptic warnings) so that the driver terminates the desired lane change and instead remains in the vehicle's current lane. In certain embodiments, the processor 142 also reverts to standard longitudinal control, as in step 206 described above (i.e., where no lane change occurs).

[0074] Conversely, if no termination conditions are determined in step 216, the method 200 retains prelateral motion control in various embodiments in step 210.

[0075] Also in various embodiments, determinations are made during the lateral movement stage control 214 as to whether abort conditions are met (step 218). In particular, in various embodiments, the processor 142 determines during step 218 whether abort conditions are met during this phase that would lead to the aborting of the lane change. In certain embodiments, the abort conditions of step 220 include the following: (1) a movement time (e.g., during the lateral movement stage) has exceeded a predetermined threshold; (2) a distance from the host vehicle 100 to a center of the target lane (into which the host vehicle 100 should turn) is less than a predetermined threshold; or (3) a forward target (i.e., ahead of the host vehicle 100 in the direction in which the host vehicle 100 is traveling) is selected as the nearest path.

[0076] If, in different embodiments, one or more such termination conditions are determined in step 218, the method 200 in different embodiments proceeds to the above-mentioned step 220, in which the lane change is aborted and the method then returns to step 210.

[0077] Conversely, if no termination conditions are determined in step 218, the method 200 retains lateral motion control in various embodiments in step 214.

[0078] With reference to Fig. 3 A flowchart according to an exemplary embodiment for the combined actions 211 of Fig. 2 provided, including both the prelateral movement stage control 210 and the lateral movement stage control 214 of Fig. 2.

[0079] The combined actions 211 of Fig. 2 and Fig. 3 are also mentioned below in connection with Fig. 4 and Fig. 5 described, which represent exemplary implementations of process 200, including prelateral movement stage control 210 and lateral movement stage control 214.

[0080] As in Fig. As shown in Figure 3, in an exemplary embodiment, the vehicle 100 enters the prelateral movement mode (step 302). In certain embodiments, this occurs when (or after) the driver provides an initial indication of a lane change maneuver (i.e., by activating the turn signal 111 of the vehicle 100, for example, as in step 208 of Figure 3). Fig. 2) and before the driver provides a second indication of the lane change maneuver (i.e. by operating the steering wheel 109 of the vehicle 100 when performing the lane change).

[0081] In certain embodiments, a determination is made as to whether a trailer is attached to the vehicle 100 (step 304). In certain embodiments, this is done via the processor 142 of Fig. 1 determined based on sensor data (e.g. from one or more cameras 126, radar sensors 124 and / or other sensors 129 of the sensor array 120 of Fig. 1, such as a sensor that is assigned to an integrated brake control for the trailer, and so on).

[0082] In certain embodiments, if it is determined that a trailer is attached to the vehicle 100, the processor proceeds to step 306, in which the processor 142 finds all target zones (hereinafter also referred to as target zone candidates) in front of the host vehicle 100 that are large enough for the host vehicle 100 to enter with respect to the lane change. Conversely, if it is determined that no trailer is attached to the vehicle 100, the processor proceeds to step 308 instead, in which the processor 142 finds all target zones (hereinafter also referred to as target zone candidates) in front of and behind the host vehicle 100 that are large enough for the host vehicle 100 to enter with respect to the lane change. In certain embodiments (e.g.,(where the vehicle 100 is not equipped to tow a trailer), then the determination of step 304 may not be necessary, and procedure 200 may automatically proceed to step 308 once prelateral movement mode is entered in step 302.

[0083] As used in this application, the term “target zone” refers to an area of ​​an adjacent lane into which the vehicle 10 would turn when performing the lane-change maneuver, without touching any other vehicles or objects, including those in the adjacent lane, and further including any other vehicles or objects, so that the vehicle 100 can effectively maneuver into the adjacent lane. As used herein, “target zone candidates” also refer to a plurality of different target zones that the vehicle 100 can use when performing the lane-change maneuver.

[0084] In various embodiments, in each of these scenarios of steps 304-308, the method 200 then proceeds to step 310, as the time to zone is calculated for each of the identified target zones (or target zone candidates) of steps 306 or 308, as described in more detail below.

[0085] With reference to Fig. 4 and Fig. 5. Illustrations relating to exemplary target zones according to exemplary embodiments of implementations of process 200 are provided.

[0086] First, as in Fig. Figure 4 shows a representation 400 according to a first implementation of process 200, in which vehicle 100 turns into an adjacent left lane. As shown in Fig. As shown in Figure 4 according to an exemplary embodiment, vehicle 100 is currently in a host vehicle lane 401, and the driver intends to maneuver vehicle 100 into an adjacent lane 402 located to the left of vehicle 100. In an exemplary embodiment, one or more rear target vehicles (or objects) 420 (i.e., behind the host vehicle 100) and one or more front target vehicles (or objects) 430 (i.e., in front of the host vehicle 100) are identified by the processor 142 based on sensor data (e.g., from the cameras 126 and / or radar sensors 124). Also in certain embodiments, the rear target vehicles (or objects) 420 and front target vehicles (or objects) 430 are located in the adjacent lane 402 into which the host vehicle 100 is to turn.

[0087] With further reference to Fig. 4 In various embodiments, a number of potential target zones 405 (hereinafter also referred to as target zone candidates) are identified by the processor 142 using sensor data, including based on sensor data from the cameras 126 and / or radar sensors 124 in combination with additional sensor data relating to a course and movement of the host vehicle 100 (e.g. via the speed sensors 127, the accelerometers 128, steering sensors 122 and the like).

[0088] As in Fig. As illustrated in an exemplary embodiment, certain of the target zones 405 are sufficiently large to allow the host vehicle 100 to change lanes to the adjacent lane 402. Fig. 4. These are classified as permissible target zones 404 (hereinafter also referred to as target zone candidates) in which lane changes can be effectively made into the adjacent lane 402.

[0089] Likewise, as in Fig. As shown in an exemplary embodiment, a buffer 408 is also identified with respect to rear vehicles (or objects) 420 behind the vehicle 100. In various embodiments, the buffer 408 may be required so that the permissible target zones 404 provide sufficient space for the host vehicle 100 to effectively change lanes while successfully avoiding the rear vehicles (or objects) 420.

[0090] Likewise, as in Fig. As shown in an exemplary embodiment (Figure 4), a following distance 406 is also identified with respect to the front target vehicle (or object) 430. In various embodiments, the following distance 406 can be preselected by the driver for adaptive cruise control. Also in various embodiments, the following distance 406 may be required so that the permissible target zones 404 provide sufficient space for the host vehicle 100 to effectively change lanes while successfully avoiding the front target vehicle (or object) 430.

[0091] Next, as in Fig. Figure 5 shows a representation 500 according to a second implementation of process 200, in which vehicle 100 turns into an adjacent right lane. As shown in Fig. As shown in Figure 5 according to an exemplary embodiment, vehicle 100 is currently in a host vehicle lane 501, and the driver intends to maneuver vehicle 100 into an adjacent lane 502 located to the right of vehicle 100. In an exemplary embodiment, one or more rear target vehicles (or objects) 520 (i.e., behind the host vehicle 100) and one or more front target vehicles (or objects) 530 (i.e., in front of the host vehicle 100) are identified by the processor 142 based on sensor data (e.g., from the cameras 126 and / or radar sensors 124). Also in certain embodiments, the rear target vehicles (or objects) 520 and front target vehicles (or objects) 530 are located in the adjacent lane 502 into which the host vehicle 100 is to turn.

[0092] With further reference to Fig. In various embodiments, a number of potential target zones 505 (hereinafter also referred to as target zone candidates) are identified by the processor 142 using sensor data, including sensor data from the cameras 126 and / or radar sensors 124 in combination with additional sensor data relating to the course and movement of the host vehicle 100 (e.g. via the speed sensors 127, the accelerometers 128, steering sensors 122 and the like).

[0093] As in Fig. As illustrated in an exemplary embodiment, certain of the target zones 505 are sufficiently large to allow the host vehicle 100 to change lanes to the adjacent lane 502. Fig. 5. These are classified as permissible target zones 504 (hereinafter also referred to as target zone candidates) in which lane changes can be effectively made into the adjacent lane 502.

[0094] Likewise, as in Fig. As shown in an exemplary embodiment, a buffer 508 is also identified in relation to the rear target vehicle (or object) 520. In various embodiments, the buffer 508 may be required so that the permissible target zones 504 provide sufficient space for the host vehicle 100 to effectively change lanes while successfully avoiding the rear target vehicle (or object) 520.

[0095] Likewise, as in Fig. As shown in an exemplary embodiment, a following distance 506 is also identified with respect to the front target vehicle (or object) 530. In various embodiments, the following distance 506 can be preselected by the driver. Also in various embodiments, the following distance 506 may be required so that the permissible target zones 504 provide sufficient space for the host vehicle 100 to effectively change lanes while successfully avoiding the front target vehicle (or object) 530.

[0096] With renewed reference to Fig. As mentioned above, during step 310, the time to zone is calculated for each of the identified zones (or target zone candidates) from steps 306 or 308. In various embodiments, the time to zone represents an estimated duration in which vehicle 100 is expected to reach the identified target zones, including target zones 405 of Fig. 4 and the target zones 505 of Fig. 5 (and in particular for use in determining target zones 404, 504, which are permissible target zones for the host vehicle 100 to maneuver into the desired lane).

[0097] In various embodiments, during step 310, processor 142 calculates the time to the zone for each of the target zones (or target zone candidates) according to the following equations: t1=−Vx1+Vx12−2*DclRate*Δx1DclRate in which: t2a=−Vx2DclRate X2a=−DclRate2*(t2a)2−Vx2*t2a t2=t2a+(Δx2−x2a)−Vx and in which: “1”, “2”, ... represent different target zones for entering the new lane, where target zone “1” represents a first target zone, “2” represents a second target zone, and so on; "t" represents the time the host vehicle 100 needs to reach a specific target zone, such that "t1" represents the time to reach a first target zone (or a specific target zone candidate) from the current position of vehicle 100, "t2" represents a time to reach a second target zone from the current position of vehicle 100, "t 2a “represents the time the host vehicle 100 needs to travel between different target zones, and so on; “V” represents the current speed of a target vehicle (or object) at a specific zone (e.g., such that V x1"represents the current speed of a target vehicle or object at a specific target zone candidate, in an exemplary embodiment); and “DclRate” represents a calibratable parameter based on an expected longitudinal deceleration rate response of the host vehicle 100 to the procedure 200 when executing the lane change maneuver; and “x” represents a position of a specific target zone, such that “x1” represents a position of a first target zone, “x2” represents a position of a second target zone, “Δx1” represents a distance between the host vehicle 100 and the first target zone (e.g., a specific target zone candidate in an exemplary embodiment), “Δx2” represents a distance between the host vehicle 100 and the second target zone, and so on.

[0098] In one exemplary embodiment, the equations above calculate the time the host needs to realign itself with the target zone. In particular, according to one exemplary embodiment, T2 includes two components, namely T 2a and T 2b . Also in an exemplary embodiment: T 2a is the time to slow down to align with the vehicles defining this zone; X 2a is the distance traveled during the deceleration period; and T 2b is the time spent driving before deceleration, while the distance between the host vehicle and the zone is being covered.

[0099] For example, in an example that uses specific non-restrictive values ​​for illustrative purposes only: DclRate=0.2 m / s / s; Vx2=−2 m / s; Δx2=50; T2a=2 / 0.2=10; X2a=0.2 / 2*10*10+0.2*10=30; and T2=10+(50−30) / 2=20.

[0100] In this non-restrictive representation, the result of these equations in this particular example would mean that the host vehicle 100 will travel the first twenty meters (20 m) (in ten seconds) between its current position and the final position before it begins to decelerate. Also in this example, the host vehicle 100 will then decelerate for the final thirty meters (30 m) while traveling thirty meters (30 m).

[0101] As in Fig. As illustrated in Figure 5, in an exemplary embodiment, when a specific target zone 504 is located behind the host vehicle 100, the distance between the host vehicle 100 and the target zone 504 is measured in various embodiments between a front of the host vehicle 100 and a leading edge of the target zone (e.g., as represented by the value Δx1 510, as in Fig. Classified as 5). Also as in Fig. As illustrated in Figure 5, in an exemplary embodiment, if a specific target zone 504 is located in front of the host vehicle 100, the distance between the host vehicle 100 and the target zone 504 is also measured between a front end of the host vehicle 100 and a leading edge of the target zone (e.g., as represented by the value Δx2 512, as shown in Figure 5). Fig. 5 classified) (e.g. so that the host vehicle slows down 100 to match its speed to that of the forward vehicle according to an exemplary embodiment).

[0102] With renewed reference to Fig. 3 In various embodiments, an initial target selection is made (step 312). In particular, in one exemplary embodiment, during step 312 (after the driver has activated the turn signal 111 and before the driver has actuated the steering wheel 109), the processor 142 makes an initial selection of a specific target zone from the potential target zone candidates of sufficient size to allow the host vehicle 100 to change lanes (e.g., one of the permissible target zones 404 of Fig. 4 and / or permissible target zones 504 of Fig. 5), so that a particular selected target zone (hereinafter also referred to as the “initial target zone prediction”) is the permissible target zone which is closest to the host vehicle 100 in terms of travel time (i.e. has the shortest time per zone for the host vehicle 100).

[0103] In various embodiments, the host vehicle 100 is commanded to move toward the selected target zone (step 314). In particular, in various embodiments, the processor 142 controls the longitudinal movement of the vehicle 100 to align itself with the selected target zone from step 312 (i.e., the initial target zone prediction) so that the vehicle 100 is ready to maneuver into the desired lane (and avoid any detected target vehicles and other objects) when the vehicle 100 reaches the selected target zone. In various embodiments, the processor 142 directs the braking system 106, the drive system 110, or both of the Fig. 1. Control signals are provided to automatically control the longitudinal movement (including longitudinal speed and acceleration) of the host vehicle 100 in this manner in preparation for the lane change maneuver. Also in an exemplary embodiment, during this action, the longitudinal speed of the vehicle 100 is automatically set via instructions provided by the processor 142 to the braking system 106 and / or the drive system 110, so that the vehicle 100 is on its way to effectively execute the lane change maneuver into the adjacent lane via the initial target zone prediction.

[0104] Also in various embodiments, the method 200 then waits until the lateral movement zone (step 316). In particular, in various embodiments, the processor 142 continues to control the longitudinal steering in this manner during step 316 until the driver begins to change lanes (i.e., in one exemplary embodiment, until the driver turns the steering wheel 109 in the same direction as the turn signal and by at least a predetermined amount of rotation).

[0105] In various embodiments, the method 200 then enters the lateral movement mode (step 318) as soon as the driver has provided the second indication of the lane change maneuver (i.e. by turning the steering wheel 109 in the same direction as the direction indicator and by at least a predetermined amount of rotation in an exemplary embodiment).

[0106] In various embodiments, once the method 200 enters lateral movement mode, an indication is made regarding all target zone candidates large enough for the host vehicle to enter (step 320). In particular, in one exemplary embodiment, during step 320, the processor 142 identifies, considering the current sensor data and information (e.g., including the current position, direction, speed, and acceleration of the host vehicle 100, as well as target vehicles and other objects in various embodiments), all potential target zone candidates in the vicinity of the host vehicle 100 that would allow the host vehicle 100 to successfully complete the intended maneuver into the adjacent lane.

[0107] Also in various embodiments, an updated target zone selection is made (step 322). In particular, in one exemplary embodiment, during step 312 (after the driver has actuated the steering wheel 109, in an exemplary embodiment), the processor 142 makes an updated selection of a specific target zone from the potential target zone candidates of sufficient size from step 320 to allow the host vehicle 100 to change lanes (e.g., one of the permissible target zones 404 of Fig. 4 and / or permissible target zones 504 of Fig. 5), so that a particular selected target zone (hereinafter also referred to as the “updated target zone prediction”) is the permissible target zone that is closest to the host vehicle 100 in terms of distance (i.e. has the smallest distance per zone for the host vehicle 100).

[0108] Accordingly, while the selection of the specific target zone of step 312 (i.e., the initial target zone prediction) during the prelateral movement mode (i.e., after the driver has activated the turn signal 111 but before the driver has actuated the steering wheel 109) was based on the shortest distance to the host vehicle 100, the selection of the specific target zone of step 322 (i.e., the updated target zone prediction) during the lateral target zone (i.e., after the driver has actuated the steering wheel 109) is now based on the shortest distance to the host vehicle 100.

[0109] In various embodiments, the host vehicle 100 is commanded to move toward the selected target zone (step 324). In particular, in various embodiments, the processor 142 controls the longitudinal movement of the vehicle 100 to align itself with the selected target zone from step 322 (i.e., the updated target zone prediction) so that the vehicle 100 is ready to maneuver into the desired lane (and avoid any detected target vehicles and other objects) when the vehicle 100 reaches the selected target zone. In various embodiments, the processor 142 issues a command to the braking system 106, the drive system 110, or both of the Fig. 1 Control signals are ready to automatically control the longitudinal movement (including longitudinal speed and acceleration) of the host vehicle 100 in this way, so that the vehicle is on its way to effectively execute the lane change maneuver into the adjacent lane via the updated target zone prediction while the lane change maneuver is being implemented (i.e. while the driver manually controls the lateral movement of the vehicle 100 by actuating the steering wheel 109).

[0110] In various embodiments, the process then ends (step 326).

[0111] Accordingly, methods, systems, and vehicles are provided for automatically facilitating a lane-change maneuver initiated by the driver of the vehicle, based on various conditions, parameters, and specifications, which are described in more detail above and in the figures. In various embodiments, the automatic control of the longitudinal movement of the vehicle 100 is managed by a processor within the vehicle using sensor data from the vehicle's sensors to facilitate the movement of the vehicle 100 into a suitable window for merging into an adjacent lane, in accordance with the lane change initiated by the driver.

[0112] It is understood that the systems, vehicles, and procedures may differ from those depicted in the figures and described herein. For example, vehicle 100 may differ from Fig. 1, including the control system 102 and / or other components thereof, in various embodiments of the one described in Fig. 1. The steps shown and / or those described above in connection with it may differ. Likewise, it is understood that the steps of process 200 and its implementations differ from those in Fig. 2- Fig. The steps shown in section 5 may differ and / or may occur simultaneously and / or in a different order than shown. Fig. 2- Fig. 5 shown and / or described above in connection therewith can take place.

Claims

[1] Procedure (200), comprising: Receiving (202) sensor data from one or more sensors (122, 124, 126, 127, 128, 129) of a vehicle (100); Determine (208), via a processor (142) of the vehicle (100) using the sensor data, when a driver of the vehicle (100) initiates a lane change maneuver for the vehicle (100) into an adjacent lane (402); Determine, via the processor (142) using the sensor data, a target zone for the lane change maneuver, wherein the target zone comprises an area of ​​the adjacent lane (402) into which the vehicle (100) would turn when performing the lane change maneuver; and Control (214), via the processor (142), the longitudinal movement of the vehicle (100), so that the vehicle (100) can effectively perform the lane change maneuver into the adjacent lane (402); wherein the longitudinal movement of the vehicle (100) is automatically controlled by the processor (142) of the vehicle (100), while during the lane change maneuver the driver manually performs a lateral movement of the vehicle (100) by operating a steering wheel (109) of the vehicle (100); wherein the step of determining the target zone is a determination, via the processor (142), of the target zone from a plurality of target zone candidates (505) of sufficient size to allow the vehicle (100) to pass through them without touching other vehicles or other objects (420, 430, 520, 530); wherein the step of determining when the driver of vehicle (100) initiates the lane change maneuver for vehicle (100) into the adjacent lane (402) includes both: Obtained, via sensor data, an initial indication of the lane change maneuver; and Received, via sensor data, a second indication of the lane change maneuver, following the first indication; The step of determining the target zone (505) includes: Determine, via the processor (142) after the first indication and before the second indication, an initial target zone prediction from the plurality of target zone candidates (505) for the lane change maneuver; and Determine, via the processor (142) after the second indication, an updated target zone prediction from the plurality of target zone candidates (505) for the lane change maneuver; The step of controlling the longitudinal movement includes: Control, via the processor (142), the longitudinal movement of the vehicle (100) after the first indication and before the second indication by setting a longitudinal speed of the vehicle (100) so that the vehicle (100) is on its way to effectively execute the lane change maneuver into the adjacent lane (402) via the initial target zone prediction; and Control, via the processor (142), the longitudinal movement of the vehicle (100) after the second indication by adjusting the longitudinal speed of the vehicle (100), so that the vehicle (100) is on its way to effectively perform the lane change maneuver into the adjacent lane (402) via the updated target zone prediction. [2] Method (200) according to claim 1, further comprising: Determine, for each of the plurality of target zone candidates (505), whether the target zone candidate is of sufficient size, based on a position and movement of the vehicle (100) and the other vehicles or other objects (420, 430, 520, 530) as obtained from the sensor data, together with pre-calibrated requirements regarding a driver-selected following distance for adaptive cruise control with respect to those of the other vehicles and other objects (420, 430, 520, 530) that are in front of the vehicle (100), and a buffer with respect to others of the other vehicles and other objects (420, 430, 520, 530) that are behind the vehicle (100). [3] Method (200) according to claim 1, wherein the target zone is selected via the processor (142) such that the target zone comprises a specific of the plurality of target zone candidates (505) that is closest to the vehicle (100) in terms of a distance from the vehicle (100) to the target zone, a time from the vehicle (100) to the target zone or both. [4] Method (200) according to claim 1, wherein: the initial target zone prediction via the processor (142) is performed after the first indication and before the second indication to be an initial selection from the plurality of target zone candidates (505) as the nearest of the plurality of target zone candidates (505) to the vehicle (100) with respect to a time to travel there by the vehicle (100); and The updated target zone prediction is made via the processor (142) after the first indication and before the second indication to be an updated selection from the plurality of target zone candidates (505) as the nearest of the plurality of target zone candidates (505) to the vehicle (100) in terms of a distance to travel there by the vehicle (100). [5] Method (200) according to claim 4, wherein the time to travel by the vehicle (100) to a specific plurality of target zone candidates is determined via the processor (142) in conjunction with the following equation: t1=−Vx1+Vx12−2*DclRate*Δx1DclRate, where "t1" represents the time to reach a specific DclRate target zone candidate, "V x1" represents a current speed of a target vehicle or object at the specified target zone candidate; "DclRate" represents a calibratable parameter based on an expected longitudinal deceleration rate response for the lane change maneuver; "Δx1" represents the distance between the vehicle (100) and the specified target zone candidate. [6] Method (200) according to claim 1, further comprising: Determine, via the processor (142) using the sensor data, whether a trailer is attached to the vehicle (100); If it is determined that no trailer is attached to the vehicle (100), then determine, via the processor (142), the initial target zone prediction and the updated target zone prediction based on an aggregate of the plurality of target zone candidates (505), regardless of whether the target zone candidates are in front of the vehicle (100) or behind the vehicle (100); and If instead it is determined that a trailer is attached to the vehicle (100), then determine, via the processor (142), the initial target zone prediction and the updated target zone prediction instead based on only a subset of the plurality of target zone candidates (505) that are in front of the vehicle (100). [7] System (102), comprising: one or more sensors (122, 124, 126, 127, 128, 129) of a vehicle (100) which are designed to receive sensor data; and a processor (142) coupled to one or more sensors (122, 124, 126, 127, 128, 129) and configured to enable at least the following: Determine, using the sensor data, when a driver of the vehicle (100) initiates a lane change maneuver for the vehicle (100) into an adjacent lane (402); Determine, using the sensor data, a target zone for the lane change maneuver, wherein the target zone comprises an area of ​​the adjacent lane (402) into which the vehicle (100) would turn when performing the lane change maneuver; and control the longitudinal movement of the vehicle (100) so that the vehicle (100) can effectively perform the lane change maneuver into the adjacent lane (402); wherein the longitudinal movement of the vehicle (100) is automatically controlled by the processor (142) of the vehicle (100), while during the lane change maneuver the driver manually performs a lateral movement of the vehicle (100) by operating a steering wheel (109) of the vehicle (100); wherein the step of determining the target zone is a determination, via the processor (142), of the target zone from a plurality of target zone candidates (505) of sufficient size to allow the vehicle (100) to pass through them without touching other vehicles or other objects (420, 430, 520, 530); wherein the step of determining when the driver of vehicle (100) initiates the lane change maneuver for vehicle (100) into the adjacent lane (402) includes both: Obtained, via sensor data, an initial indication of the lane change maneuver; and Received, via sensor data, a second indication of the lane change maneuver, following the first indication; The step of determining the target zone (505) includes: Determine, via the processor (142) after the first indication and before the second indication, an initial target zone prediction from the plurality of target zone candidates (505) for the lane change maneuver; and Determine, via the processor (142) after the second indication, an updated target zone prediction from the plurality of target zone candidates (505) for the lane change maneuver; The step of controlling the longitudinal movement includes: Control, via the processor (142), the longitudinal movement of the vehicle (100) after the first indication and before the second indication by setting a longitudinal speed of the vehicle (100) so that the vehicle (100) is on its way to effectively execute the lane change maneuver into the adjacent lane (402) via the initial target zone prediction; and control, via the processor (142), the longitudinal movement of the vehicle (100) after the second indication by setting the longitudinal speed of the vehicle (100) so that the vehicle (100) is on its way to effectively execute the lane change maneuver into the adjacent lane (402) via the updated target zone prediction.

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