METHOD AND DEVICE FOR FACILITATING LANE CHANGES BY A VEHICLE WITHOUT TRAFFIC INFORMATION AT THE LANE LEVEL

Abstract

The present disclosure describes a method (700) and a device (210) for facilitating a lane change by a vehicle (102) during navigation. The method (700) comprises processing (702) navigation data associated with a destination to detect an impending event requiring a lane change from a current lane (110) to a destination lane (112), and, upon detection of the impending lane change event, determining (704) one or more parameters associated with the destination lane (112). The parameters include an average lane speed, an inverse lane density, and a lane speed variance associated with the destination lane.The procedure includes analyzing (706) the traffic situation on the destination lane based on the specified parameters to determine whether a current vehicle speed should be adjusted, and determining (708) a substitute speed for the vehicle (102) and overriding the current speed with the substitute speed to facilitate the lane change to the destination lane.

Description

TECHNICAL AREA

[0001] The present disclosure relates to autonomous vehicles. In particular, the present disclosure relates to a method and a device for facilitating lane changes by an autonomous vehicle (without lane-level traffic information) while navigating to a specific destination. BACKGROUND OF THE INVENTION

[0002] Most vehicles today are equipped with advanced driver assistance systems (ADAS) that provide the driver with a better driving experience while simultaneously increasing vehicle and road safety. Lane changing is an important function of ADAS in autonomous or self-driving vehicles. Lane changing typically occurs when the vehicle needs to move from its current lane to an adjacent lane while navigating from one location to another.

[0003] When changing lanes, the vehicle often needs to move to a destination lane with slower traffic, such as a lane for heavy vehicles (e.g., trucks) with a lower speed limit. A major challenge during such a lane change is the speed difference between the autonomous vehicle and the vehicles in the destination lane. This speed difference can lead to a dangerous situation, for example, if the autonomous vehicle is traveling faster than the vehicles in the destination lane. In such a situation, the relative speed (speed difference between the autonomous vehicle and the vehicles in the destination lane) becomes high, which reduces the time to collision (TTC). The TTC is the time it takes for the autonomous vehicle to collide with a vehicle ahead if both vehicles continue at their current speeds.

[0004] For example, if the autonomous vehicle is traveling at 120 km / h and the vehicles in the target lane are traveling at 80 km / h, the relative speed is 40 km / h. If the autonomous vehicle does not adjust / reduce its current speed before changing lanes, it will quickly close the gap with a slower vehicle in that lane, resulting in an extremely low time-to-come, time-to-come (TTC) rate. This makes it difficult for the autonomous vehicle to execute the lane change safely. Without adjusting its speed, the success rate for a successful lane change in such scenarios is therefore lower. The autonomous vehicle must either abort the lane change at the last moment or risk a collision due to the high relative speed.Therefore, the autonomous vehicle should adjust its current speed before initiating the lane change so that the current speed matches the speed of the traffic flow in the target lane.

[0005] Some techniques take into account the traffic density in the vehicle's vicinity to adjust the vehicle's current speed. For example, US patent US11745739B2 relates to assisting a vehicle in a lane-change procedure. This patent describes adjusting the vehicle's current speed to a target speed based on the current traffic density and the flow rate associated with the target lane. PCT publication WO2024003011A1 describes the operation of a vehicle's lane-change assist system, taking into account the traffic density in the vehicle's vicinity.

[0006] However, these techniques do not account for the varying speeds of vehicles in the target lane while adjusting the vehicle's current speed, leading to inefficient lane changes because the adjusted speed may not precisely match the traffic flow in the target lane. Therefore, there is a need for techniques that address the challenges described above and others related to enable efficient speed adjustment during lane changes for autonomous vehicles, particularly in high-traffic scenarios. SUMMARY OF THE INVENTION

[0007] According to one aspect of the present invention, methods and devices for facilitating lane changes of an autonomous vehicle (without lane-level traffic information) during navigation to a specific destination are disclosed.

[0008] In a non-restrictive embodiment, the present disclosure describes a method for facilitating a vehicle's lane change while navigating to a specific destination. The method comprises processing navigation data associated with the specified destination to detect an impending event requiring the vehicle to change lanes from its current lane to a destination lane, and, after detecting the impending event requiring the lane change to the destination lane, determining one or more parameters associated with the destination lane. The one or more parameters include an average lane speed, an inverse lane density, and a lane speed variance associated with the destination lane.The procedure involves analyzing the traffic situation on the target lane based on the average lane speed, the inverse lane density, and the lane speed deviation to determine whether the vehicle's current speed should be adjusted. When determining whether the vehicle's current speed should be adjusted, the procedure includes determining a substitute speed for the vehicle and overriding the current speed with this substitute speed to facilitate the lane change to the target lane while navigating to the specified destination.

[0009] In a further non-restrictive embodiment, the present disclosure describes a device for facilitating a vehicle's lane change while navigating to a specific destination. The device comprises a memory and at least one processor communicatively connected to the memory. The processor is configured to process navigation data associated with the specified destination in order to detect an impending event requiring the vehicle to change lanes from its current lane to a destination lane, and upon detecting the impending event requiring the lane change to the destination lane, determine one or more parameters associated with the destination lane, wherein the one or more parameters include an average lane speed, an inverse lane density, and a lane speed variance associated with the destination lane.The processor is further configured to analyze the traffic situation on the target lane based on the average lane speed, the inverse lane density, and the lane speed deviation to determine whether the vehicle's current speed should be adjusted; and, if it determines that the vehicle's current speed should be adjusted, it determines a substitute speed for the vehicle and overrides the current speed with the substitute speed to facilitate lane changes to the target lane during navigation to the specified destination. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The aforementioned and other features of the embodiments will become clearer from the following detailed description of the embodiments when read in conjunction with the accompanying drawings. In the drawings, the reference numbers refer to identical elements. Fig. Figure 1 shows an exemplary scenario 100 in which the lane-changing techniques according to the present disclosure can be implemented. Fig. Figure 2 shows a higher-level block diagram 200 of a communication system with a device 210 that can implement the techniques of the present disclosure according to some embodiments of the present disclosure. The Fig. Figures 3a-3b show an exemplary flowchart 300 illustrating the proposed method for facilitating the lane change of a vehicle 102 while navigating to a particular destination according to some embodiments of the present disclosure. The Fig. Figures 4-6 show exemplary scenarios 400, 500, 600 in which the techniques of the present disclosure can be implemented according to some embodiments of the present disclosure. Fig. Figure 7 shows a flowchart illustrating an exemplary method 700 for facilitating the lane change of a vehicle while navigating to a particular destination, in accordance with some embodiments of the present disclosure. DETAILED DESCRIPTION

[0011] The present subject matter will now be described in detail, one or more examples of which are illustrated in the figures. Each example serves to illustrate the subject matter and does not constitute a limitation. Various changes and modifications that would be obvious to a person skilled in the art in the field of the invention are deemed to be within the meaning, scope, and consideration of the present disclosure.

[0012] In the present invention, terms such as "lane lines" and "road markings" are used interchangeably. Terms such as "ego vehicle," "autonomous vehicle," and "vehicle" are used interchangeably in the present invention. Terms such as "lanes" and "driving lanes" are used synonymously throughout the present invention.

[0013] Fig. Figure 1 shows an exemplary environment 100, which represents a scenario in which the techniques of the present disclosure can be implemented. As shown in environment 100, a vehicle 102 may be present or located on a road 104 (typically, the vehicle 102 may be in motion). It may be noted that the vehicle 102 may be an ego vehicle. In autonomous driving systems, an ego vehicle refers to a vehicle that includes various sensors that perceive the environment around the vehicle 102. Fig. 1. The vehicle 102 may have at least one RADAR sensor 106 (Radio Detection and Ranging), which is, for example, mounted in front of the vehicle. The RADAR sensor 106 may have an associated field of view (FoV) or scanning angle 108 and an associated range. The vehicle 102 may additionally include at least one camera and at least one LiDAR sensor (not shown) mounted on the roof of the vehicle 102.

[0014] The field of view or scanning angle 108 refers to an angular range that the RADAR sensor 106 can cover or see at a given time. A larger field of view allows the RADAR sensor 106 to detect objects over a wider area, which is useful for autonomous driving (e.g., autonomous lane changes) where the vehicle 102 needs to be aware of surrounding traffic. The range (or detection range) of the RADAR sensor 106 refers to the maximum distance at which the RADAR sensor 106 can detect objects. The range “R” of a RADAR sensor 106 depends on, but is not limited to, a variety of factors, such as the power of the radar transmitter, the size of the antennas, and the environmental conditions. The range can also be broken down into the maximum RADAR range (i.e., the maximum distance at which an object can be detected) and the minimum RADAR range (i.e., the maximum distance at which an object can be detected).the shortest distance at which an object can be detected) are subdivided.

[0015] Road 104 represents a primary route for vehicular traffic. It should be noted that various objects may be located near vehicle 102, for example, on both sides of Road 104 and possibly also on Road 104 itself. For the sake of simplicity, these are shown in Fig. 1 are not shown. Examples of such objects may include trees, buildings, pedestrians, other vehicles, road railings, road boundaries, speed limiters, obstacles, and other objects such as packages or trash lying on the road. Road 104 may have other associated objects such as lane lines, curbs, medians, and the like.

[0016] Road 104 can typically be divided into several lanes, each separated by lane markings. The lanes are arranged to regulate the flow of traffic in both forward and reverse directions. Some of the lanes may be designated for forward traffic, and the rest for reverse traffic. Road 104 may have a median strip separating the forward lanes from the reverse lanes. The lane arrangement in each direction can vary depending on the specific traffic rules and regulations of the country or region. For example, in some regions / countries, the right-hand lane(s) are typically reserved for heavy or slow-moving vehicles, such as trucks.This lane(s) has / have a lower speed limit compared to other lanes.

[0017] Vehicle 102 may be equipped with a navigation system that either contains onboard navigation data or receives navigation data from external sources to plan a route for Vehicle 102 navigation from a starting point to a specific destination. This navigation data includes information about lanes, road lines, road features, speed limits, and other geographic data, often obtained from high-definition (HD) and / or standard-definition (SD) maps. The HD and / or SD maps provide Vehicle 102 with detailed information about the road layout, including the number of lanes, the width of each lane, the route's intersections, exit points along the route, and other similar elements related to the road infrastructure. In one example, the navigation data may also include data received from the Global Positioning System (GPS).

[0018] Vehicle 102 uses navigation data (taking into account road layout, traffic conditions, speed limits, and other factors) to create an efficient and safe route from the starting point to the specified destination. Vehicle 102 also determines when and where it should change lanes during navigation (e.g., based on upcoming exits, lane mergings, or curves). A lane change typically occurs when Vehicle 102 needs to move from its current lane to an adjacent lane on Road 104 while navigating from one location to another. This lane-changing maneuver is necessary for various reasons, such as finding the optimal route to the destination, overtaking slower vehicles in the current lane, preparing for an exit, avoiding obstacles, and more.

[0019] In the scenario of Fig. Figure 1 describes a road with three lanes, where vehicle 102 is currently in the middle lane 110 (referred to as the "current lane"). Assume that the vehicle is traveling at a current speed "S1" and that, according to the planned route, vehicle 102 needs to move to the far right lane 112 to take an exit. In this case, the vehicle must change from the middle lane 110 to the far right lane 112 (referred to as the "destination lane"). Note that the right lane is reserved for heavy vehicles 114, such as trucks, which typically travel at lower speeds than vehicle 102. Therefore, for a successful lane change, vehicle 102 must adjust its current speed S1 to the traffic density in the right lane.The present invention describes techniques that utilize RADAR technology to facilitate lane changes of the vehicle 102 during navigation to a specific destination, as described in the following sections.

[0020] Fig. Figure 2 shows a high-level block diagram of a communication system 200 comprising a device 210 communicatively coupled to at least one radar sensor 106, a server 214, and at least one camera 216, according to some embodiments of the present disclosure. The device 210 may include at least one processor 202 communicatively connected to a memory 204.

[0021] Memory 204 can contain various types of data or information that may be helpful in facilitating lane changes for vehicle 102. For example, memory 204 may contain pre-stored or pre-loaded navigation maps, navigation data, and so on. Examples of such navigation maps are SD cards and HD maps, which contain essential geographical information necessary for vehicle 102 navigation on road 104. The maps may depict roads, highways, and other routes that vehicles can travel on. The maps contain detailed information about the number of lanes, one-way or two-way traffic, and road classifications (e.g., highways, local roads), traffic regulations, information about different routes, and lane-level information for roads.Each country has its own regulations regarding road width, which vary depending on the type of road. For example, highways and expressways typically have wider lanes than local roads and toll roads. The maps usually contain information about road widths, which depend on country-specific standards. This road width data helps navigation systems guide vehicles along roads suitable for their size and load. In a non-restrictive embodiment, the maps can be located at a remote location, such as on server 214. Camera 216 can be mounted on vehicle 102 to capture images of the area surrounding vehicle 102.

[0022] In one embodiment, the device 210 may include various other hardware units / components (e.g., various interfaces, a receiver, a transmitter, a navigation data processor, a parameter determiner, a traffic situation determiner, a substitute speed calculator, a comparator, but not limited to) and a display 206. The various interfaces may include I / O interfaces and / or network interfaces. The processor 202 may be configured in conjunction with one or more other components to implement the techniques for facilitating lane changes by the vehicle 102.

[0023] In a non-restrictive embodiment, the device 210 can be located at a remote location (e.g., a remote server) and be communicatively connected to the vehicle 102 via a communication network. In another embodiment, the device 210 can be part of the vehicle 102, in particular part of an electronic control unit (ECU) of the vehicle 102. In such an embodiment, the device 210, the radar sensor 106, and the camera 216 can be part of the vehicle 102, while the server 214 can be located at any remote location. In such an embodiment, either the memory 204 can store the navigation maps, or the navigation maps can be stored on the server 214, and the device 210 can receive / load relevant navigation information from the server 214 during navigation by the vehicle 102.In some embodiments, the RADAR sensor 106 and the camera 216 can be part of the device 210.

[0024] As in Fig. As shown in Figure 1, the vehicle 102 can include the radar sensor 106, which is, for example, mounted in front of the vehicle 102. For the sake of simplicity and illustration, only one radar sensor 106, mounted on the front of the vehicle 102, has been shown. However, the present disclosure is not limited to this, and in general, any number of radar sensors 106 can be mounted at multiple locations on the vehicle 102. The radar sensor 106 can be associated with a number of specifications, such as the radar detection range “R”, the field of view (FoV), the scanning angle 108, a scanning pattern, and other known parameters.

[0025] In some embodiments, the RADAR sensor 106 can be configured to capture a more compact field of view (FOV) to reduce computations, instead of capturing a wide FOV in the vicinity of the vehicle 102. The RADAR sensor 106 may include, but is not limited to, one or more associated elements such as a transmitter, a receiver, and an antenna. During operation, the transmitter emits radio waves via the antenna, which propagate through the vehicle's environment at the speed of light, depending on the FOV of the RADAR sensor 106. When the radio waves encounter an object (e.g., another vehicle) within the detection range, they are reflected back to the RADAR sensor 106. The antenna receives the reflected radio waves, which are then processed by the device 210 to measure the time it takes for the radio waves to return.The measured time allows us to determine how far the other object / vehicle is from vehicle 102. Device 210 also analyzes the frequency changes of the received signal (Doppler shift) to calculate the object's speed. When the radio waves emitted by the transmitter bounce back from a moving vehicle, their frequency changes, and this frequency shift is due to the other vehicle's movement relative to vehicle 102.

[0026] The Fig. Figures 3a-3b show an exemplary flowchart 300 illustrating the proposed method for facilitating the lane change of a vehicle 102 while navigating to a particular destination according to some embodiments of the present disclosure.

[0027] In block 302, the device 210 can detect an intention to change lanes (e.g., from the current vehicle lane to a destination lane 112 while navigating from a starting point to a specific destination). The device 210 determines whether the vehicle 102 needs to change lanes or take an exit by processing navigation data (i.e., detailed map / route data and / or real-time information from various sensors) associated with the specified destination. To determine whether the vehicle 102 should take an exit or change lanes, the device 210 processes and interprets map data containing information about the road layout, lane arrangement, and the location of exits and intersections.The device 210 can use GPS and other sensors to determine the current location of the vehicle 102 and then compare the current location of the vehicle with the planned route to identify pending maneuvers, such as the need to take an exit or change lanes, while navigating from the starting point to the specified destination.

[0028] In block 304, the device 210, upon detecting the impending event requiring a lane change to the target lane, can determine one or more parameters associated with the target lane 112. The one or more parameters include an average lane speed (S TL ), an inverse lane density (D TL ) and a variance in lane speed (V TL), which are connected to the destination lane 112. It should be noted that the present invention does not require any information about the traffic at lane level for the lane change.

[0029] The average lane speed (S TL The average speed of all vehicles traveling on target lane 112 during a given period is the average speed of all vehicles traveling on target lane 112. For example, if five vehicles are traveling at speeds of 50, 55, 60, 65, and 70 km / h on target lane 112, the average lane speed is 60 km / h. The inverse lane density (D) TL) represents the space / distance available per vehicle on target lane 112. The inverse lane density is the reciprocal of the lane density, where the lane density indicates the number of vehicles per unit length of target lane 112. The higher the value of the inverse lane density of target lane 112, the lower the traffic congestion on target lane 112. For example, if the inverse lane density is 0.04 km / vehicle, this means that each vehicle has an average of 40 meters of space on target lane 112 (or one vehicle for every 40 meters of distance on target lane 112). The variance of the lane speed (V) TLThe lane speed deviation (LSD) is a measure of the speed fluctuations of vehicles in lane 112. The lane speed deviation indicates how much the speeds of individual vehicles deviate from the average lane speed. Such speed deviations often lead to the formation of noticeable gaps or distances between vehicles in lane 112, which can be used for lane changes.

[0030] In particular, the device 210 can detect the presence of vehicles within a defined area “R” on the target lane 112 using the RADAR sensor 106 attached to the vehicle 102 (i.e., whether vehicles are present or not). After detecting the presence of vehicles within the defined area (which is the field of view of the RADAR sensor 106), the device 210 can process the RADAR data acquired by the RADAR sensor 106 to determine the number of vehicles (N) present within the defined area and the speed of each vehicle present within the defined area. The device 210 can determine the average lane speed (S). TL ) determine by dividing the sum of the speeds of the detected vehicles by the total number of vehicles (N) within the specified area according to equation (1) below: STL=(S1+S2+S3+…+SN)N where, S TL denotes the average speed of the finish lane, N denotes the total number of vehicles present in the specified area and S1, S2, S3 ... S N denotes the respective speeds of N vehicles that are within the specified range.

[0031] The device 210 can determine the inverse lane density of the target lane (D TL ) determine by dividing the specified area (R) by the total number of vehicles (N), as shown in equation (2): DTL=RN where, D TL denotes the inverse lane density R denotes the specified range or field of view of the RADAR sensor 106, and N denotes the total number of vehicles present in the specified area and S1, S2, S3 ... S Ndenotes the respective speeds of N vehicles that are within the specified range.

[0032] The device 210 can determine the deviation of the lane speed V TL based on the individual vehicle speeds of the recorded vehicles and the calculated average lane speed S TL according to the following equation (2): VTL=(S1−STL)2+(S2−STL)2…+(SN−STL)2N where, V TL denotes the speed deviation of the target lane, S TL the average speed of the finish lane, N denotes the total number of vehicles present in the specified area and S1, S2, S3 ... S N denotes the respective speeds of N vehicles that are within the specified range.

[0033] The device 210 can then assess the traffic situation on the target lane 112 based on the average lane speed (S TL ), the inverse lane density (D TL ) and the variance of lane speed (V TL ) in conjunction with the target lane 112. In particular, the device 210 in block 306 compares a value of the inverse lane density (D TL ) the destination lane 112 with a threshold value for the lane density (D Th ) Value. The threshold value for lane density represents a minimum distance that confirms that the lane is sufficiently clear for a safe lane change.

[0034] In block 308, when the value of the inverse lane density (D TL ) is high or if the result of the comparison indicates that the value of the inverse lane density (D) TL ) is higher than the threshold value of the lane density (D Th) the device 210 determines that there is sufficient distance between the vehicles on the destination lane 112 (i.e., the destination lane 112 is relatively empty). Therefore, in block 310, the device 210 continues the journey of vehicle 102 at the same speed and facilitates the lane change to the destination lane 112 according to the navigation plan, without requesting a new or substitute speed of vehicle 102 (i.e., using the current speed of vehicle 102). If the value of the inverse lane density (D TL ) is infinite, the device 210 determines that there are no objects within the specified area on the target track 112, i.e., the target track 112 is empty, and no situation will arise in which emergency braking is required.

[0035] In block 312, when the value of the inverse lane density (D TL) is low or medium, or if the result of the comparison indicates that the value of the inverse lane density (D) TL ) less than or equal to the lane density threshold (D Th If the device 210 determines that there are more vehicles on the destination lane 112 or that there is traffic on the destination lane 112, it performs procedure A (312) as described in Fig. 3b shown.

[0036] In block 314, if the result of the comparison indicates that the value of the inverse lane density (D TL ) less than or equal to the value of the threshold track density (D Th ) is, the device 210 compares a value of the average lane speed (S TL ) with a threshold lane speed value (S Th ). In particular, the low value of the inverse lane density (D TL) indicates that there is less space between the vehicles in destination lane 112, meaning that a traffic jam or a closer proximity of vehicles may occur in destination lane 112. In such a scenario, device 210 determines that it is not safe to perform a lane change at the vehicle's current speed, and the procedure proceeds to the next block.

[0037] Furthermore, in such a scenario (when the inverse lane density is lower than the lane density threshold), the device 210 initiates the lane change to the destination lane 112 earlier than usual. By initiating the lane change earlier, the chance of finding the gap for the lane change without disrupting the traffic flow on the destination lane 112 is increased. Normally, the vehicle 102 initiates the lane change at a standard distance (D) before the actual point where the lane change must be performed (e.g., before a highway exit or intersection). This standard distance (D) is calculated to give the vehicle 102 sufficient time to complete the lane change to the destination lane. However, if the vehicle 102 needs to perform more than one lane change (e.g., from a far left lane to the exit lane on the right), the device 210 adjusts the starting point of the lane change to begin even earlier.Such an adjustment is based on the number of required lane changes (n) and is calculated according to the following equation: D1=D+(n∗L) where, D denotes the standard lane change distance at which vehicle 102 normally begins the lane change, D1 denotes the modified lane change distance when more than one lane change is required, n denotes the number of required lane changes, and L is a threshold distance that determines how much earlier the lane change should begin for each additional required lane change.

[0038] In scenarios where the inverse lane density is lower than the threshold lane density, the device 210 adjusts the starting point of the lane change even earlier than in equation (4), which is calculated according to the following equation (5): D2=D1+X where, D2 denotes the modified lane change distance when the inverse lane density is lower than the lane density threshold, and X is the additional distance added to initiate the lane change even earlier, allowing more time for the maneuver. The value of X can be preconfigured or dynamically changed. If only one lane change is required (i.e., n=0), the distance D1 becomes the default distance D.

[0039] In block 316, the device 210 compares the value of the average lane speed (S TL ) the target lane 112 with a current vehicle speed (S1) to check whether the traffic on target lane 112 is moving at an acceptable speed or not. If a result of the comparison indicates that the average lane speed (S) TLIf the average lane speed (S1) is equal to or higher than the currently set vehicle speed (S1), the device 210 facilitates lane changes to the target lane 112 using the current speed of the vehicle 102. In particular, if the average lane speed (S1) is higher than the current set vehicle speed (S1), the device 210 facilitates lane changes to the target lane 112 using the current speed of the vehicle 102. TL If the speed (S1) is equal to or higher than the current vehicle speed, this means that the traffic in the destination lane 112 is traveling at a similar speed to or faster than vehicle 102. In such a scenario, there is no need to adjust the speed to the current speed before changing lanes, and the device 210 facilitates the lane change to the destination lane 112 without requesting a substitute speed; that is, the device 210 can accelerate / decelerate vehicle 102 according to the original navigation plan without explicitly requesting the substitute speed.

[0040] Additionally, in block 318 (when the average lane speed is equal to or higher than the current vehicle speed), device 210 initiates a premature lane change to the target lane 112 (as explained above in conjunction with equation (5)) to increase the probability of a successful lane change.

[0041] In block 320, after initiating a lane change, the device 210 can actively monitor the target lane 112 for gaps or spaces between vehicles, for example, using radar sensors, cameras, or other detection methods, to continuously assess the traffic situation on the target lane 112. As soon as a gap is detected, the device 210 attempts to change lanes to the target lane 112. In one aspect, the device 210 can assess whether it is safe for the vehicle 102 to enter the identified gap. Such an assessment is based on one or more factors, including, but not limited to, the size of the gap, the relative speed of the vehicle 102, and the current speed of the vehicle 102. If the gap is identified as safe, the device 210 steers the vehicle 102 into the gap on the target lane 112 without disrupting the existing traffic flow.

[0042] In block 322, if the result of the comparison indicates that the average lane speed (S TL ) is lower than the current vehicle speed (S1) (i.e., the traffic on target lane 112 is moving slower than the vehicle 102), the device 210 compares the lane speed deviation (V) associated with target lane 112. TL ), which is assigned to destination lane 112, with a threshold value for the deviation of the lane speed (V Th In general, lane speed deviation measures the degree of difference between the speeds of individual vehicles on the target lane 112. A higher lane speed deviation (V) TLThe symbol indicates that the speeds of vehicles on target lane 112 differ significantly, with some vehicles traveling much slower or faster than others, resulting in temporary gaps on target lane 112. These gaps can be used by vehicle 102 to change from its current lane 110 to target lane 112. In this scenario, the presence of gaps indicates that vehicle 102 can enter target lane 112 without changing its current speed, even if the average speed on target lane 112 is lower.

[0043] In block 324, if the result of the comparison indicates that the value of the deviation of the lane speed (V) TL ) is higher than the threshold for the deviation of the lane speed (V) ThIf the vehicle is in a suitable gap, the procedure continues with block 318, and the device 210 facilitates the lane change to the target lane 112 using the current speed of the vehicle 102. The vehicle 102 performs the lane change when a suitable gap is detected, without braking.

[0044] If the result of the comparison in block 324 indicates that the deviation of the lane speed (V) TL ) less than or equal to the threshold for lane speed deviation (V) Th If the deviation is less than or equal to the threshold value, the procedure continues with block 326. The smaller deviation of the lane speed (V) TL) indicates that the vehicles on target lane 112 are moving at similar speeds, resulting in no temporary gaps forming on target lane 112. In this scenario, vehicle 102 cannot safely enter target lane 112 without changing its current speed. Therefore, device 210 in block 326 initiates a procedure to adjust the speed of vehicle 102. Device 210 updates the current vehicle speed with a new speed (S R ) (known as the "compensation speed"). The compensation speed is set to be slightly higher than the average lane speed (S TL ) of the destination lane 112. The replacement speed (S R ) is calculated according to the following equation (6): Replacement speed (SR) = Average speed in lane (STL) + X

[0045] In the equation above, X denotes a constant speed value that is added to the average speed of the lane so that the substitute speed is slightly above the average speed of the lane, allowing vehicle 102 to safely enter the destination lane 112. The device 210 then facilitates / initiates the lane change to the destination lane 112 by overriding the current speed with the substitute speed of vehicle 102, and the procedure continues to block 320, where the device 210 can actively monitor the destination lane 112 for gaps or spaces and attempt to change lanes to the destination lane 112 (e.g., as soon as a gap is detected). After detecting the gap, vehicle 102 moves with an acceleration (a) calculated using equation (7) below to perform the lane change: S=(u∗t)+0.5∗(a∗t2) where S is the distance at which vehicle 102 must get behind the leading vehicle, u is the initial velocity of vehicle 102, and t is the time it takes for vehicle 102 to get behind the leading vehicle. The values ​​of S, u, and t are usually known, and the acceleration a is calculated using equation (7) above. For example, if the leading vehicle is 50 meters away from vehicle 102 and the distance is 10 meters, vehicle 102 must travel 40 meters to get behind the leading vehicle (i.e., S = 40 m). In this way, vehicle 102 attempts to reach the target lane 112 while moving with an acceleration calculated using equation (7).

[0046] In block 328, the device 210 determines whether the lane-change attempt was successful. If the lane-change attempt is determined to be successful, the procedure continues with block 330. If the lane-change attempt is determined to be unsuccessful (i.e., the vehicle could not enter the target lane 112, for example, if the target lane 112 was congested or a suitable gap could not be found), the procedure continues with block 332. In block 332, the device 210 starts a timer for a predefined duration (t). The timer sets a specific period during which the vehicle 102 continues to attempt the lane change. Simultaneously, the device 210 sends a turn signal request to the side indicators or turn signals of the vehicle 102 (if the lane change is unsuccessful) to inform the vehicles behind that the vehicle 102 is attempting to change lanes.

[0047] As long as the predefined time duration (t) is less than a threshold time interval (T), the device 210 continues the lane-change attempts by evaluating the traffic situation on the target lane 112. If the lane change is successful within the time interval t < T, the process is completed successfully and the vehicle 102 merges into the target lane 112. The device 210 can terminate the process and deactivate the turn signals once the lane change is complete. However, if the timer expires without a successful lane change having occurred, the device 210 deactivates the turn signals, stops attempting the lane change, and concludes that the conditions for a safe lane change are not favorable.

[0048] In this way, the present invention discloses techniques that take into account different lane conditions, including varying lane speeds and gap availability, while initiating lane changes (without requiring lane-level traffic information). This enables safe and smooth lane changes for autonomous vehicles while reducing the risk of collisions. Furthermore, the techniques of the present invention initiate lane changes at a defined distance from the intended lane change point, taking various factors into account. This allows the vehicle sufficient time to complete the lane change. Thus, the present invention provides robust techniques for performing lane changes under a wide variety of driving scenarios and road / traffic conditions.

[0049] It should be noted that the present invention only shows and describes a few scenarios for a lane change from the current lane 110 to the destination lane 112. Fig. Figure 1, for example, illustrates a lane change from the middle lane 110 to the right lane 112 with only one lane change. However, the present disclosure is not limited to this, and in general, the techniques of the present disclosure are applicable to a wide range of lane-changing scenarios.

[0050] Fig. Figure 4 shows an exemplary scenario 400 in which the techniques of the present disclosure can be implemented. As shown in scenario 400, the vehicle 102 may be in the left lane 402 (referred to as the “current lane”) on a road 104 with three lanes 402, 404, 406. Suppose that, according to the planned route, the vehicle 102 needs to change to the right lane 406 (referred to as the “destination lane”) to take an exit. In this case, the vehicle 102 must perform two lane changes. First, the vehicle 102 must change lanes from the far left lane 402 to the middle lane 404 (e.g., by detecting the gap 408 between the vehicles 114). Then vehicle 102 must change lanes from the middle lane 404 to the right lane 406 (e.g. by detecting the gap 410 between vehicles 114).For each such lane change, vehicle 102 uses the techniques described above in this disclosure. In the scenario of . Fig. 4 The vehicle 102 initiates a premature lane change by adjusting the starting point of the lane change according to equation (5).

[0051] Fig. Figure 5 shows an exemplary scenario 500 in which the techniques of the present disclosure can be implemented. As shown in scenario 500, the vehicle 102 may be in the middle lane 504 (referred to as the “current lane”) on the three-lane road 104 502, 504, 506. Suppose that, according to the planned route, the vehicle 102 needs to change lanes to the far right lane 506 (referred to as the “destination lane”) to take an exit. In this case, the vehicle 102 must change lanes from the middle lane 504 to the far right lane 506. Suppose that the device 210 detects that the inverse lane density is lower than the threshold lane density and the average lane speed is lower than the current vehicle speed (i.e., the method is traveling at block 322 of Fig. 3b continued). In this case, the device compares the lane speed variance (V). TL), which is assigned to target lane 506, with a threshold value for the deviation of the lane speed (V Th ) value. Suppose the device 210 detects that the value of the lane speed deviation (V) TL ) is higher than the threshold for the deviation of the lane speed (V) Th ) is higher than the threshold for the lane speed deviation ( ), which leads to the formation of the temporary gap 508 in the destination lane 112. The device 210 then enables the lane change to the destination lane 506 according to the original plan (i.e., without querying the substitute speed of vehicle 102).

[0052] Fig. Figure 6 shows an exemplary scenario 600 in which the techniques of the present disclosure can be implemented. The situation in scenario 600 is the same as in scenario 500, except that the value of the road speed deviation (V) TL) is lower than the threshold for lane speed deviation (V) Th ) is lower than the threshold for lane speed deviation ( ), which results in no temporary gap forming on the target lane 112. In this case, the device 210 brakes the vehicle 102 and updates / overwrites the current vehicle speed with a substitute speed (S ). R ) according to equation (6) and calculates an acceleration (a) which is calculated using equation (7) to perform the lane change. In both scenarios of the Fig. 5-6, the device 210 initiates a premature lane change.

[0053] Fig. Figure 7 shows a flowchart illustrating an exemplary method 700 for facilitating the lane change of a vehicle 102 while navigating to a specific destination, according to some embodiments of the disclosure. The various operations of method 700 can be performed by the device 210 of the Fig. 2 are executed, comprising at least one processor 202, which is communicatively connected to the memory 204.

[0054] The procedure 700 may in block 702 include the processing of navigation data associated with the specified destination to detect an impending event that requires a lane change of vehicle 102 from a current lane 110 to a destination lane 112.

[0055] In Block 704, Procedure 700, following the detection of the impending event requiring a lane change to destination lane 112, includes determining one or more parameters associated with destination lane 112. These parameters include an average lane speed, an inverse lane density, and a lane speed variance associated with destination lane 112.

[0056] In block 706, procedure 700 includes the analysis of the traffic situation on the destination lane 112 based on the average lane speed, the inverse lane density and the lane speed variance to determine whether the current speed of vehicle 102 should be adjusted.

[0057] In block 708, procedure 700, following the decision to adjust the current speed of vehicle 102, includes determining a substitute speed for vehicle 102 and overriding the current speed with the substitute speed to facilitate the lane change to the destination lane 112 while navigating to the specified destination.

[0058] Method 700 is presented only as an example, and the embodiments are intended to include or otherwise cover all methods or procedures for changing lanes. The various blocks of the in Fig. For the sake of simplicity, the procedures 700 shown in Figure 7 have been arranged in a generally sequential manner. It goes without saying, however, that this arrangement is merely exemplary and that the procedures associated with Method 700 (and those shown in Figure 7) are not limited to the specific procedures shown in Figure 7. Fig. The processing associated with the 7 blocks shown can also be carried out in a different sequence. Furthermore, individual blocks can be omitted from the processes without affecting the scope of the subject matter described herein. It should be noted here that the subject matter of some or all embodiments described with reference to the Fig. 1-6 are described, which may be relevant to the procedures and are not repeated for the sake of brevity.

[0059] In one embodiment of the present disclosure, one or more non-volatile, computer-readable media may be used to implement the embodiments according to the present disclosure. A computer-readable medium refers to any type of physical storage on which information or data that can be read by a processor can be stored. Certain non-limiting embodiments may include a computer program or product for performing the operations presented herein.

[0060] Finally, the language used in the description was chosen primarily for readability and guidance purposes, and not to delimit or define the subject matter of the invention. It is therefore intended that the scope of the disclosure is not limited by this detailed description, but rather by all claims arising from an application based thereon. Accordingly, the embodiments of the present disclosure are intended for illustration, but not to limit, the scope of the disclosure set forth in the accompanying claims. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 11745739B2

[0005] WO 2024003011A1

[0005]

Claims

[1] Method (700) for facilitating a lane change by a vehicle (102) while navigating to a particular destination, the method (700) comprising: Processing (702) navigation data associated with the specified destination to detect an impending event that will require the vehicle (102) to change lanes from a current lane (110) to a destination lane (112); after detecting the impending event requiring the lane change to the destination lane, determine (704) one or more parameters associated with the destination lane (112), wherein the one or more parameters include an average lane speed, an inverse lane density and a lane speed variance associated with the destination lane (112); Analyzing (706) the traffic situation on the target lane (112) based on the average lane speed, the inverse lane density, and the lane speed variance to determine whether the current speed of the vehicle (102) should be adjusted; and when determining to adjust the current speed of the vehicle, determining (708) a substitute speed for the vehicle (102) and overwriting the current speed with the substitute speed to facilitate lane change to the destination lane (112) during navigation to the specified destination. [2] Method (700) according to claim 1, wherein determining (704) one or more parameters associated with the target track comprises: Determination of the average lane speed associated with the target lane by: Detecting a number of vehicles (N) and the speed of each vehicle located within a specified area on the target lane, using a vehicle-mounted radar sensor; and Determination of the average speed on the lane by dividing the sum of the speeds of the recorded vehicles by the total number of vehicles (N) within the specified area; Determine the inverse lane density assigned to the target lane by dividing the specified area by the total number of vehicles (N); and Determining the lane speed deviation based on the individual vehicle speeds of the recorded vehicles and the calculated average lane speed. [3] Method (700) according to claim 1, wherein determining whether the current speed of the vehicle should be adjusted comprises: Comparing the inverse lane density assigned to the target lane with a threshold lane density; If a comparison result indicates that the inverse lane density is higher than the threshold lane density, facilitating lane changes to the target lane using the vehicle's current speed; If the comparison shows that the inverse lane density is lower than the threshold lane density, compare the average lane speed of the target lane with the current vehicle speed; and If a comparison result indicates that the average lane speed is equal to or higher than the current vehicle speed, facilitating lane changes to the target lane using the vehicle's current speed. [4] Method (700) according to claim 3, further comprising: If the result of the comparison indicates that the average lane speed is lower than the current vehicle speed, compare the lane speed deviation associated with the target lane with a threshold lane speed deviation; If a comparison result indicates that the lane speed deviation is higher than the lane speed deviation threshold, facilitating lane changes to the target lane using the vehicle's current speed; and If the result of the comparison indicates that the lane speed deviation is less than the lane speed threshold deviation, determine the substitute speed for the vehicle and overwrite the current speed with the substitute speed to increase the probability of a successful lane change to the target lane. [5] Method (700) according to claim 3, further comprising: Initiating a premature lane change to the target lane when the comparison result indicates that the inverse lane density is lower than the threshold lane density; and Control of the vehicle's turn signal function depending on whether the lane change to the target lane was successful or not. [6] Device (210) for facilitating a lane change of a vehicle (102) while navigating to a specific destination, the device comprising: a memory (204); and at least one processor (202) that is communicatively coupled to the memory (204) and configured to: to process navigation data associated with the specified destination in order to detect an impending event that requires the vehicle (102) to change lanes from its current lane (110) to a destination lane (112); after detecting the impending event that requires changing lanes to the target lane, to determine one or more parameters associated with the target lane (112), wherein the one or more parameters include an average lane speed, an inverse lane density and a lane speed variance associated with the target lane (112); Analyzing the traffic situation on the target lane (112) based on the average lane speed, the inverse lane density, and the lane speed variance to determine whether the current speed of the vehicle (102) should be adjusted; and when deciding to adjust the current speed of the vehicle, to determine a substitute speed for the vehicle (102) and to superimpose the current speed with the substitute speed to facilitate the lane change to the target lane (112) during navigation to the specified destination. [7] Device (210) according to claim 6, wherein the processor (202) is configured to determine one or more parameters associated with the target track in order to: determine the average speed associated with the target lane: Detecting the number of vehicles and the speed of each vehicle within a specified area on the target lane, using a vehicle-mounted radar sensor; and Determination of the average speed on the lane by dividing the sum of the speeds of the recorded vehicles by the total number of vehicles present within the specified area; Determine the inverse lane density assigned to the target lane by dividing the specified area by the total number of vehicles; and Determining the lane speed deviation based on the individual vehicle speeds of the recorded vehicles and the calculated average lane speed. [8] Device (210) according to claim 6, wherein, to determine whether the current speed of the vehicle should be adjusted, the processor (202) is configured such that it: compare the inverse lane density assigned to the target lane with a threshold value for lane density; If a result of the comparison indicates that the inverse lane density is higher than the threshold lane density, to facilitate the lane change to the target lane using the current speed of the vehicle; If the comparison shows that the inverse lane density is lower than the threshold lane density, compare the average lane speed of the target lane with the current vehicle speed; and If a comparison result indicates that the average lane speed is equal to or higher than the current vehicle speed, to facilitate the lane change to the target lane using the vehicle's current speed. [9] Device (210) according to claim 8, wherein the processor (202) is further configured to: If the result of the comparison indicates that the average lane speed is lower than the current vehicle speed, compare the lane speed deviation assigned to the target lane with a lane speed deviation threshold; If a comparison result indicates that the lane speed deviation is higher than the threshold speed deviation, facilitating lane changes to the target lane using the vehicle's current speed; and If the result of the comparison indicates that the lane speed deviation is less than the lane speed deviation threshold, determine the substitute speed for the vehicle and superimpose the current speed with the substitute speed to increase the probability of a successful lane change to the target lane. [10] Device (210) according to claim 8, wherein the processor (202) is further configured to: Initiating a premature lane change to the target lane when the comparison result indicates that the inverse lane density is lower than the threshold lane density; and the control of the turn signals depending on whether the lane change to the target lane was successful or not.

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