Automated driving system for evaluating lane cut-out and method of using the same
First Claim
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 (xlat) 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 (xlat) 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 (xright, xleft) 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.
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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.
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Citations
21 Claims
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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:
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gathering target vehicle readings and lane marking readings from the one or more automated driving sensor(s); determining a relative lateral position (xlat) 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 (xlat) 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 (xright, xleft) 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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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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:
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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 (xright, xleft) 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.
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21. An automated driving system installed in a host vehicle, comprising:
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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 (xlat) 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 (xlat) 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 (xright, xleft) 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.
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Specification