Gap selection method and system

• US 10,108,195 B2
• Filed: 10/06/2016
• Issued: 10/23/2018
• Est. Priority Date: 10/13/2015
• Status: Active Grant

• Current Assignee: Volvo Car Corporation (AB Volvo)
• Original Assignee: Volvo Car Corporation (AB Volvo)
• Inventors: Silvlin, Jonatan, Brannstrom, Mattias Erik, Nilsson, Julia, Ali, Mohammad
• Primary Examiner(s): Shaawat, Mussa A
• Assistant Examiner(s): Kerrigan, Michael V
• Application Number:
  US15/286,756
• Publication Number:
  US 20170102705A1
• Time in Patent Office: 747 Days
• CPC Class Codes: B60W 2554/4049 Relationship among other objects, e.g. converging dynamic objects
• 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 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A gap selection method performed by a gap selection system for a vehicle. The vehicle travels on a road having a first lane and a second lane adjacent to the first. The vehicle travels in the first lane, a first surrounding vehicle travels in the second lane, a second surrounding vehicle travels in the second lane ahead of the first surrounding vehicle with a first gap between the first and second surrounding vehicles. The method includes determining a first minimum safety margin between the first surrounding vehicle and the vehicle, determining a second minimum safety margin between the second surrounding vehicle and the vehicle, evaluating the first gap by determining a minimum limit for a longitudinal position of the vehicle, determining a maximum limit for a longitudinal position of the vehicle, and determining a lane change appropriateness value of the first gap utilizing the minimum limit and the maximum limit.

Claims

1. A gap selection method performed by a gap selection system for a vehicle travelling on a road comprising a first lane and a second lane adjacent to the first lane, the vehicle travelling in the first lane, a plurality of k surrounding vehicles traveling in the second lane with a plurality of gaps between two adjacent surrounding vehicles, k is an integer of at least 3, i is an integer between 1 and k, j is an integer between 1 and (k−

1) and a j-th gap is located between an i-th surrounding vehicle and an (i+1)-th surrounding vehicle, the method comprising;

determining a minimum safety margin for the i-th surrounding vehicle as a longitudinal distance between the i-th surrounding vehicle and the vehicle provided with the gap selection system;

evaluating the j-th gap by determining a minimum limit for a longitudinal position of the vehicle utilizing dynamic position longitudinal information of the vehicle and a predicted position of the i-th surrounding vehicle behind the j-th gap considering the minimum safety margin related to the i-th surrounding vehicle;

determining a maximum limit for a longitudinal position of the vehicle utilizing dynamic longitudinal position information of the vehicle and a predicted position of the (i+1)-th surrounding vehicle in front of the j-th gap considering the minimum safety margin related to the (i+1)-th surrounding vehicle;

determining a lane change appropriateness value of the j-th gap by means of a time-position area, the time-position area determined as a function of the minimum limit and the maximum limit for a longitudinal position of the vehicle during a time span;

evaluating at least two j-th gaps based on at least one parameter;

selecting one of the at least two evaluated j-th gaps; and

generating control signals required for the vehicle to reach the selected j-th gap.

2. The gap selection method according to claim 1

wherein selecting one of the at least two evaluated j-th gaps comprises selecting that j-th gap coming first in time and offering a lane change appropriateness value above a critical value.

3. The gap selection method according to claim 1

wherein selecting one of the at least two evaluated j-th gaps comprises selecting that j-th gap for which the required control signals for the vehicle provided with the gap selection system to reach that j-th gap are the smallest.

4. The gap selection method according to claim 1 wherein determining a maximum limit for a longitudinal position of the vehicle also considers an additional surrounding vehicle travelling in the first lane in front of the vehicle.

5. The gap selection method according to claim 1 wherein determining a minimum limit for a longitudinal position of the vehicle also considers an additional surrounding vehicle travelling in the first lane behind the vehicle.

6. The gap selection method according to claim 1 further comprising:

determining a velocity of the vehicle; and

utilizing the determined velocity of the vehicle when determining the minimum safety margin.

7. The gap selection method according to claim 1 further comprising:

determining relative positions and relative velocities of one or more of the surrounding vehicles and/or additional surrounding vehicles in relation to the vehicle;

utilizing the determined relative positions and velocities when determining the minimum safety margin.

8. The gap selection method according to claim 7 wherein determining relative positions and velocities of the surrounding vehicles and/or additional surrounding vehicles comprises determining by a sensing system of the vehicle.

9. The gap selection method according to claim 7 wherein the minimum safety margin for an i-th surrounding vehicle is determined as a front time gap times the velocity of the vehicle for a surrounding vehicle in front of the vehicle, and as a rear time gap times the velocity of a surrounding vehicle for a surrounding vehicle behind the vehicle, wherein the front time gap denotes a minimum desired time gap to a surrounding vehicle in front of the vehicle, and the rear time gap denotes a minimum desired time gap to a surrounding vehicle behind the vehicle.

10. A gap selection system for use in a vehicle when the vehicle is traveling on a road comprising a first lane and a second lane adjacent to the first lane, and when the vehicle is traveling in the first lane, and a plurality of k surrounding vehicles are traveling in the second lane with a plurality of gaps between two adjacent surrounding vehicles, where k is an integer of at least 3, i is an integer between 1 and k, j is an integer between 1 and (k−

1), and a j-th gap is located between an i-th surrounding vehicle and an (i+1)-th surrounding vehicle, the gap selection system comprising;

a unit for determining a minimum safety margin for an i-th surrounding vehicle as a longitudinal distance between the i-th surrounding vehicle and the vehicle provided with the gap selection system;

a unit for determining a minimum limit for a longitudinal position of the vehicle utilizing dynamic longitudinal position information of the vehicle and a predicted position of the i-th surrounding vehicle behind the j-th gap considering the minimum safety margin related to the i-th surrounding vehicle;

a unit for determining a maximum limit for a longitudinal position of the vehicle utilizing dynamic longitudinal position information of the vehicle, a predicted position of the (i+1)-th surrounding vehicle in front of the j-th gap considering the minimum safety margin related to the (i+1)-th surrounding vehicle; and

a unit for determining a lane change appropriateness value of the j-th gap by means of a time-position area, the time-position area determined as a function of the minimum limit and the maximum limit for a longitudinal position of the vehicle during a time span;

wherein the gap selection system is configured to evaluate at least two j-th gaps based on at least one parameter, select one of the at least two evaluated j-th gaps, and generate control signals required for the vehicle to reach the selected j-th gap.

11. The gap selection system according to claim 10 further comprising one or more of a sensing system for determining relative positions and relative velocities of the surrounding vehicles and/or additional surrounding vehicles, a unit for determining if the automated lane change maneuver is desirable, and a unit for planning a trajectory to execute the automated lane change maneuver.

12. A vehicle comprising a gap selection system according to claim 10.

13. The gap selection system according to claim 10 wherein the selected j-th gap comprises that j-th gap coming first in time and offering a lane change appropriateness value above a critical value.

14. The gap selection system according to claim 10 wherein the selected j-th gap comprises that j-th gap for which the required control signals for the vehicle provided with the gap selection system to reach that j-th gap are the smallest.