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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
First Claim
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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.

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