Automated driving system for evaluating lane cut-out and method of using the same

• US 10,077,050 B2
• Filed: 05/24/2016
• Issued: 09/18/2018
• Est. Priority Date: 05/24/2016
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Rajvanshi, Akshat, O'Dea, III, Kevin A., Conrad, III, Kevin P.
• Primary Examiner(s): Shaawat, Mussa A
• Assistant Examiner(s): Kim, Kyung J
• Application Number:
  US15/163,508
• Publication Number:
  US 20170341647A1
• Time in Patent Office: 847 Days
• Field of Search: None
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/4045 Intention, e.g. lane change or imminent movement
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 60/00274 considering possible movement changes

Abstract

The methods and system described herein may be used to assist an automated driving system of a host vehicle. The methods and system may, in an exemplary embodiment, be used to determine whether a host vehicle or a target vehicle is cutting out and, accordingly, control the acceleration and/or other driving features of the host vehicle. Generally, the methods described herein contain the steps of determining that a vehicle is cutting out, determining which vehicle is cutting out, and then controlling the acceleration of the host vehicle based on the previous determinations. The determination of which vehicle is cutting out is made based on readings gathered by the host vehicle from one or more automated driving sensors. By using target vehicle sensor data in conjunction with lane marking sensor data, the host vehicle can determine, not only that a vehicle is cutting out, but which vehicle(s) are cutting out.

Claims

1. A method for use with an automated driving system installed on a host vehicle, the automated driving system comprises one or more automated driving sensor(s) and an automated driving control unit, and the method comprises the steps of:

gathering target vehicle readings and lane marking readings from the one or more automated driving sensor(s);

determining a relative lateral position (x_lat) of the host vehicle with respect to a leading target vehicle in the same lane as the host vehicle based, at least in part, on the target vehicle readings;

predicting a lane cutout maneuver by the host vehicle or the leading target vehicle using the target vehicle readings, the lane cutout maneuver is a maneuver where the host vehicle or the leading target vehicle intentionally initiates or at least partially begins a lane change or lane departure from a current lane, the lane cutout maneuver prediction is at least partially based on the relative lateral position (x_lat) of the host vehicle with respect to the leading target vehicle;

determining whether the lane cutout maneuver is being performed by the host vehicle, by the leading target vehicle, or by both the host and the leading target vehicles, the lane cutout maneuver determination is at least partially based on a lateral distance between the host vehicle and a lane marking (x_right, x_left) and the target vehicle readings; and

controlling acceleration of the host vehicle with the automated driving system during the lane cutout maneuver, wherein the acceleration control is at least partially based on the lane cutout maneuver prediction and the lane cutout maneuver determination.

2. The method of claim 1, wherein the gathering step further comprises gathering the target vehicle readings from one or more target sensor(s) mounted on the host vehicle.

3. The method of claim 1, wherein the gathering step further comprises gathering the lane marking readings from one or more lane marking sensor(s) mounted on the host vehicle, and determining the lateral distance between the host vehicle and the lane marking (x_right, x_left) based, at least in part, on the lane marking readings.

4. The method of claim 3, wherein each of the lane marking sensor(s) includes a camera that captures images of a road surface adjacent the host vehicle, and the gathering step further comprises gathering the images of the adjacent road surface from the camera and processing the images to obtain the lane marking readings.

5. The method of claim 1, wherein the predicting step further comprises predicting a beginning of the lane cutout maneuver by the host vehicle or the leading target vehicle at least partially based on a change in the relative lateral position (x_lat) of the host vehicle with respect to the leading target vehicle over a suitable period of time.

6. The method of claim 1, wherein the determining step further comprises calculating a relative lateral velocity (v_lat) between the host vehicle and the leading target vehicle based on a rate of change in a plurality of relative lateral position values (x_lat1 . . . x_latx) over a suitable period of time, deciding the direction of the relative lateral velocity (v_lat) of the host vehicle, with respect to the leading target vehicle, based on whether the relative lateral velocity (v_lat) is a positive or negative value, and determining if the lane cutout maneuver is being performed by the host vehicle, by the leading target vehicle, or by both the host and the leading target vehicles at least partially based on the direction of the relative lateral velocity (v_lat).

7. The method of claim 1, wherein the determining step further comprises using the lane marking readings to obtain a lateral distance between the host vehicle and a lane marking on the left side of the host vehicle (x_left) and to obtain a lateral distance between the host vehicle and a lane marking on the right side of the host vehicle (x_right), comparing the distances between the host vehicle and the lane markings on the left and right sides of the host vehicle (x_right, x_left) to decide which distance is the lesser of the two, and determining if the lane cutout maneuver is being performed by the host vehicle, by the leading target vehicle, or by both the host and the leading target vehicles at least partially based on the lesser of the two distances (x_right, x_left).

8. The method of claim 1, wherein the determining step further comprises calculating a rate of change in at least one of a lateral distance between the host vehicle and a lane marking on the left side of the host vehicle (x_left) or a lateral distance between the host vehicle and a lane marking on the right side of the host vehicle (x_right), deciding if the rate of change in the at least one lateral distance (x_right, x_left) is decreasing at a monotonic rate, and determining if the lane cutout maneuver is being performed by the host vehicle, by the leading target vehicle, or by both the host and the leading target vehicles at least partially based on whether the rate of change is decreasing at the monotonic rate.

9. The method of claim 1, wherein the determining step further comprises calculating a direction of a relative lateral velocity (v_lat) of the host vehicle, with respect to the leading target vehicle, deciding if a lateral distance between the host vehicle and a lane marking on a left side (x_left) is less than a lateral distance between the host vehicle and a lane marking on a right side (x_right), and deciding if the lesser of the two lateral distances (x_right, x_left) is decreasing at a monotonic rate.

10. The method of claim 9, wherein when the direction of the relative lateral velocity (v_lat) of the host vehicle is to the left, the lateral distance between the host vehicle and the lane marking on a left side (x_left) is the lesser of the two lateral distances, and the lateral distance (x_left) is decreasing at the monotonic rate, then determining the lane cutout maneuver is being performed by the host vehicle and is to the left;

and wherein when the direction of the relative lateral velocity (v_lat) of the host vehicle is to the right, the lateral distance between the host vehicle and the lane marking on a right side (x_right) is the lesser of the two lateral distances, and the lateral distance (x_right) is decreasing at the monotonic rate, then determining the lane cutout maneuver is being performed by the host vehicle and is to the right.

11. The method of claim 1, wherein the determining step further comprises calculating a direction of a relative lateral velocity (v_lat) of the host vehicle, with respect to the leading target vehicle, deciding if a lateral distance between the leading target vehicle and a lane marking on a left side (x_left,T) is less than a lateral distance between the leading target vehicle and a lane marking on a right side (x_right,T), and deciding if the lesser of the two lateral distances (x_right,T, x_left,T) is decreasing at a monotonic rate.

12. The method of claim 11, wherein when the direction of the relative lateral velocity (v_lat) of the host vehicle is to the left, the lateral distance between the leading target vehicle and the lane marking on a right side (x_right,T) is the lesser of the two lateral distances, and the lateral distance (x_right,T) is decreasing at the monotonic rate, then determining the lane cutout maneuver is being performed by the leading target vehicle and is to the right;

and wherein when the direction of the relative lateral velocity (v_lat) of the host vehicle is to the right, the lateral distance between the leading target vehicle and the lane marking on a left side (x_left,T) is the lesser of the two lateral distances, and the lateral distance (x_left,T) is decreasing at the monotonic rate, then determining the lane cutout maneuver is being performed by the leading target vehicle and is to the left.

13. The method of claim 1, wherein when it is determined that the lane cutout maneuver is being performed by the host vehicle, then the controlling step further comprises:

determining if traffic in an adjacent lane is moving faster than traffic in a current lane and if the adjacent lane is clear; and

increasing the acceleration of the host vehicle with the automated driving system when it is determined that the adjacent lane is moving faster than traffic in the current lane and the adjacent lane is clear.

14. The method of claim 13, wherein the controlling step further comprises determining whether the lane marking between the current lane and the adjacent lane is a solid line, and providing no additional acceleration of the host vehicle with the automated driving system when the lane marking between the current lane and the adjacent lane is a solid line.

15. The method of claim 1, wherein when it is determined that the lane cutout maneuver is being performed by the leading target vehicle, then the controlling step further comprises determining if traffic in a current lane is clear before increasing the acceleration of the host vehicle with the automated driving system.

16. The method of claim 1, wherein the controlling step further comprises determining that the lane cutout maneuver is being performed by both the leading target vehicle and the host vehicle in the same direction, and providing no additional acceleration of the host vehicle with the automated driving system when the lane cutout maneuver is being performed by both the leading target vehicle and the host vehicle in the same direction.

17. The method of claim 1, wherein the controlling step further comprises determining if a turn signal of the leading target vehicle is activated in a same direction as the cutout maneuver of the host vehicle, and providing no additional acceleration of the host vehicle with the automated driving system when the turn signal of the leading target vehicle is activated in the same direction as the cutout maneuver of the host vehicle.

18. The method of claim 1, wherein the controlling step further comprises controlling acceleration of the host vehicle in an anticipatory manner so that a torque increase is requested by the automated driving system before either the host vehicle or the leading target vehicle completes the cutout maneuver.

19. The method of claim 1, wherein the automated driving system is part of an adaptive cruise control (ACC) system that automatically controls a velocity of the host vehicle based, at least in part, on a desired velocity provided by a driver.

20. A method for use with an automated driving system installed on a host vehicle, the automated driving system comprises one or more automated driving sensor(s) and an automated driving control unit, and the method comprises the steps of:

gathering target vehicle readings and lane marking readings from the one or more automated driving sensor(s);

determining if a lane cutout maneuver is being performed by the host vehicle, by a leading target vehicle, or by both the host and the leading target vehicles, the lane cutout maneuver determination is at least partially based on a lateral distance between the host vehicle and a lane marking (x_right, x_left) and at least partially based on the target vehicle readings;

confirming an availability of an adjacent lane when the lane cutout maneuver is being performed by the host vehicle or confirming an availability of a current lane when the lane cutout maneuver is being performed by the leading target vehicle; and

controlling acceleration of the host vehicle with the automated driving system during the lane cutout maneuver, wherein the acceleration control is at least partially based on the lane cutout maneuver determination and the adjacent lane or current lane availability confirmation.

21. An automated driving system installed in a host vehicle, comprising:

one or more automated driving sensor(s) configured to gather target vehicle readings and lane marking readings; and

an automated driving control unit configured to;

determining a relative lateral position (x_lat) of the host vehicle with respect to a leading target vehicle in the same lane as the host vehicle based, at least in part, on the target vehicle readings;

predict a lane cutout maneuver by the host vehicle or the leading target vehicle using the target vehicle readings, the lane cutout maneuver is a maneuver where the host vehicle or the leading target vehicle intentionally initiates or at least partially begins a lane change or lane departure from a current lane, wherein the lane cutout maneuver prediction is at least partially based on the relative lateral position (x_lat) of the host vehicle with respect to the leading target vehicle;

determine if the lane cutout maneuver is being performed by at least one of the host vehicle, the leading target vehicle, or both the host and the leading target vehicles, wherein the lane cutout maneuver determination is at least partially based on a lateral distance between the host vehicle and a lane marking (x_right, x_left) and at least partially based on the target vehicle readings; and

control acceleration of the host vehicle with the automated driving system during the lane cutout maneuver, wherein the acceleration control is at least partially based on the lane cutout maneuver prediction and the lane cutout maneuver determination.