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Method and system for evaluating inter-vehicle traffic gaps and time instances to perform a lane change maneuver

  • US 10,317,902 B2
  • Filed: 02/17/2017
  • Issued: 06/11/2019
  • Est. Priority Date: 02/22/2016
  • Status: Active Grant
First Claim
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1. A method for evaluating inter-vehicle traffic gaps and time instances to perform a lane change maneuver, the method to be performed by a system on-board an ego vehicle, the ego vehicle travelling in a current lane of a road, the road also comprising a target lane adjacent to the current lane, the lane change maneuver including the ego vehicle changing from the current lane to an inter-vehicle traffic gap in the target lane, the method comprising:

  • (a) determining a set of trajectories which respectively constitutes an approximation of feasible motion of the ego vehicle assuming a number of acceleration profiles of the ego vehicle;

    (b) evaluating the set of trajectories on available inter-vehicle traffic gaps and time instances to perform the lane change maneuver over a prediction horizon to select a subset of feasible inter-vehicle traffic gaps and time instances to perform the lane change maneuver and to establish a corresponding set of lane change trajectories;

    (c) evaluating the set of lane change trajectories on the subset of feasible inter-vehicle traffic gaps and time instances from a safety critical perspective taking a safety critical event into account comprising a surrounding vehicle braking or performing a lane change maneuver; and

    (d) selecting a lane change trajectory from the evaluated set of lane change trajectories, with corresponding inter-vehicle traffic gap and time instance, to perform the lane change maneuver.

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