Determination of lane change based on downstream traffic state

Abstract

To provide a system to determine lane change based on a downstream traffic state.SOLUTION: A system includes: a processor; a communication device; and a memory. The processor is installed in an ego vehicle. The memory can save information from an acceleration gain module and a communication module. The acceleration gain module makes the processor (1) acquire information of a terminal part of the downstream traffic where traffic stops or moves at a low speed in a traffic lane through the communication device from a monitoring system, and (2) calculate an expression to determine lane change. The expression includes information about a virtual vehicle positioned at a position close to the terminal part or a geographical position. The communication module makes the processor transmit a signal about information based on the calculation result to a component of the ego vehicle so that the component executes an action.SELECTED DRAWING: Figure 5

Claims

1. 1. A system comprising: a processor located in the ego vehicle; a communication device; A memory, 1. An acceleration gain module comprising instructions that, when executed by the processor, cause the processor to: obtaining information from the monitoring system via the communication device regarding the edge of stopped or slow-moving downstream traffic in the first lane; calculating the result of a formula for lane change decisions, the formula including information about a virtual vehicle positioned near the edge or positioned at a geographic location; an acceleration gain module; a communications module including instructions that, when executed by the processor, cause a pre-processor to transmit a signal having information based on the outcome to a component of the ego vehicle, causing the component to perform an action; and and a memory for storing the A system comprising:

2. the lane change decision involves changing the ego vehicle from moving in the first lane to moving in a second lane; the equation is for a measure of total acceleration gain associated with the lane change decision for at least one of the ego vehicle or at least one vehicle in proximity to the ego vehicle; The system of claim 1 .

3. the equation includes a first term for a portion of the ego vehicle's acceleration gain due to the effect of the stopped or slow-moving downstream traffic; the information regarding the end of the stopped or slow-moving downstream traffic is information regarding the rear end of the stopped or slow-moving downstream traffic; The information about the virtual vehicle includes: a speed of a first virtual vehicle, the first virtual vehicle being positioned in the first lane behind the rear end, the speed of the first virtual vehicle representing an average speed of traffic in the first lane in the vicinity of the first virtual vehicle; a speed of a second virtual vehicle, the second virtual vehicle being positioned in the second lane adjacent to the first virtual vehicle, the speed of the second virtual vehicle representing an average speed of traffic in the second lane near the second virtual vehicle; and Including, a portion of the ego vehicle's acceleration gain due to the effect of stopped or slow-moving downstream traffic is determined from information about the virtual vehicle; The system of claim 2 .

4. The system of claim 3 , wherein the information about the rear end includes a position of the vehicle at the rear end and a speed of the vehicle at the rear end.

5. the acceleration gain module further includes instructions that, when executed by the processor, cause the processor to obtain other information regarding the stopped or slow-moving downstream traffic from the monitoring system via the communication device; the other information includes at least one of the position of the vehicle at the head end of the stopped or slow-moving downstream traffic, the speed of the vehicle at the head end, or the average speed of the stopped or slow-moving downstream traffic; The system of claim 4.

6. The first term includes a first difference, the first difference being: a portion of the current acceleration of the ego vehicle in the first lane due to the effect of the stopped or slow-moving downstream traffic; subtracted from the portion of the expected acceleration of the ego vehicle in the second lane due to the effect of the stopped or slow-moving downstream traffic. The system of claim 3.

7. The system of claim 6 , wherein the first term further comprises a first weight, and the first term is equal to the product of the first weight multiplied by the first difference.

8. 4. The system of claim 3, wherein the equation includes a second term for a portion of the acceleration gain of the ego vehicle due to the effect of actions performed by the ego vehicle.

9. The second term includes a second difference, the second difference being: a portion of the current acceleration of the ego vehicle in the first lane due to the effect of actions performed by the ego vehicle; subtracted from a portion of the expected acceleration of the ego vehicle in the second lane due to the effect of a forward motion performed by the ego vehicle. The system of claim 8.

10. 10. The system of claim 9, wherein the second term further comprises a second weight, the second term being equal to the product of the second weight multiplied by the second difference.

11. 4. The system of claim 3, wherein the formula includes a second term for a portion of the total acceleration gain due to the effect of at least one action taken by the at least one vehicle in proximity to the ego vehicle.

12. the second term comprises the sum of the second difference plus the third difference; The second difference is The current acceleration of the vehicle in the second lane is calculated by: subtracted from the predicted acceleration of the vehicle in the second lane following the ego vehicle in the second lane in response to the ego vehicle changing from moving in the first lane to moving in the second lane; The third difference is a current acceleration of a vehicle in the first lane following the ego vehicle in the first lane; subtracted from the expected acceleration of the vehicle in the first lane at which the ego vehicle will stop following in response to the ego vehicle changing from moving in the first lane to moving in the second lane. The system of claim 11.

13. 13. The system of claim 12, wherein the second term further comprises a second weight, and the second term is equal to the product of the second weight multiplied by the sum.

14. the stopped or slow-moving downstream traffic is at least one of downstream of the first lane or downstream of another road within the determined path of travel of the ego vehicle; The information regarding the end of the stopped or slow moving downstream traffic is the position of the vehicle at the front end of said stopped or slow-moving downstream traffic; and a speed of the vehicle at the front end; The memory further stores a turning point module including instructions that, when executed by the processor, cause the processor to: To calculate a position of the vehicle at the front end; the speed of the vehicle at the front end; and an expected speed of the ego vehicle in the second lane; and calculating a parallel position in the second lane where the ego vehicle is adjacent to the vehicle at the front end; acquiring, from a navigation system via the communication device, a position of an intersection between a current road on which the ego vehicle is located and the other road; determining a relationship between a first distance, which is the distance between the intersection position and the current position of the ego vehicle, and a second distance, which is the distance between the parallel position and the current position, added to a third distance, which is a safe distance for the ego vehicle to perform a lane change; The system of claim 2 .

15. In response to the first distance being less than the sum of the second distance plus the third distance, the information about the virtual vehicle is a speed of a first virtual vehicle, the first virtual vehicle being positioned in the second lane adjacent to a vehicle at the rear end of the stopped or slow-moving downstream traffic, the speed of the first virtual vehicle being set to zero; a speed of a second virtual vehicle, the second virtual vehicle being positioned in a third lane adjacent to the first virtual vehicle, and the speed of the second virtual vehicle being set to zero; determining a portion of the total acceleration gain due to the effect of the stopped or slow-moving downstream traffic from information about the hypothetical vehicle; The system of claim 14.

16. In response to the relationship that the first distance is greater than or equal to the sum of the second distance plus the third distance, the information about the virtual vehicle is a speed of a first virtual vehicle, the first virtual vehicle being positioned at a first point on the second lane, the first point being adjacent to the geographic location, the geographic location being the location of the intersection, and the speed of the first virtual vehicle being set to zero; a speed of a second virtual vehicle, the second virtual vehicle being positioned at a second point in a third lane, the second point being the third distance upstream from a third point, the third point being adjacent to the first virtual vehicle, and the speed of the second virtual vehicle being set to zero; determining a portion of the total acceleration gain due to the effect of stationary or slowly moving traffic from information about the virtual vehicle; The system of claim 14.

17. obtaining, by a processor of the ego vehicle, from the monitoring system via the communication device, information regarding the edge of stopped or slow-moving downstream traffic in the first lane; calculating, by the processor, a result of an equation for determining a lane change, the equation including information about a virtual vehicle positioned near the edge or positioned at a geographic location; sending, by the processor, a signal having information based on the result to a component of the ego vehicle, causing the component to perform an action; A method comprising:

18. 18. The method of claim 17, wherein causing the signal to be transmitted to the component of the ego vehicle to cause the component to perform the action comprises causing the signal to be transmitted to the component of the ego vehicle to cause the component to perform the action in response to the resulting value exceeding a first threshold.

19. causing the signal to be transmitted to the component of the ego vehicle to cause the component to perform an action in response to the resulting value exceeding the first threshold includes causing the signal to be transmitted to the component of the ego vehicle to cause the component to perform an action in response to the resulting value exceeding the first threshold and another criterion exceeding a second threshold; the other criterion is an expected acceleration of a vehicle in a second lane following the ego vehicle in the second lane in response to a change of the ego vehicle from moving in the first lane to moving in a second lane; the second threshold is the difference between zero and the safe deceleration limit; 20. The method of claim 18.

20. 1. A non-transitory computer-readable medium for determining a lane change decision based on downstream traffic conditions, the non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to: obtaining from the monitoring system via the communications device information regarding the edge of stopped or slow-moving downstream traffic within the lane; calculating the result of a formula for determining a lane change, the formula including information about a virtual vehicle positioned near the edge or positioned at a geographic location; causing a component of the ego vehicle to transmit a signal having information based on the result, causing the component to perform an action; Non-transitory computer-readable medium.

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