Method and system for predictive lane change assistance, program software product and vehicle

• US 9,669,872 B2
• Filed: 04/15/2015
• Issued: 06/06/2017
• Est. Priority Date: 05/07/2014
• Status: Active Grant

• Current Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Original Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Inventors: Rebhan, Sven, Schmdderich, Jens, Kleinehagenbrock, Marcus, Weiwange, Thomas
• Primary Examiner(s): Zanelli, Michael J
• Application Number:
  US14/687,139
• Publication Number:
  US 20150321699A1
• Time in Patent Office: 783 Days
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/42 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: B62D 15/026 combined with automatic distance control, i.e. electronic tow bar
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A system and method assists a driver of a host vehicle in potential lane change situations. The method includes producing sensor data by a sensor physically sensing the environment of the host vehicle, predicting future movement behavior of at least one sensed vehicle, and determining whether a gap on a neighboring lane of the host vehicle exists. If the neighboring lane of the host vehicle would fit better for the predicted future movement behavior, a recommendation information signal is generated. Feasibility is determined by combining the determination result of the existence of a gap and the predicted future behavior. A notification for the host vehicle is output or, if lane change is feasible, signals for performing autonomous lane change based upon the recommendation information signal by the host vehicle are output.

Claims

1. A method for assisting a driver of a host vehicle in potential lane change situations, comprising the steps of:

producing sensor data by at least one sensor physically sensing the environment of the host vehicle,

predicting, based on the produced sensor data, future movement behavior of at last one sensed vehicle before the start of the movement behavior of said at least one sensed vehicle, wherein it is predicted whether or not said at least one sensed vehicle will perform a lane change,

determining whether a gap on a neighboring lane of the host vehicle exists,

generating, if the neighboring lane of the host vehicle would fit better for the predicted future movement behavior, a recommendation information signal regarding feasibility of a lane change of the host vehicle to this better fitting lane, the feasibility being determined by computationally combining the determination result of the existence of a gap and the predicted future movement behavior, and

at least one of outputting a notification for the host vehicle'"'"'s driver and, in case that a lane change is feasible, generating signals for performing an autonomous lane change on the basis of the recommendation information signal by the host vehicle.

2. The method according to claim 1, wherein

an adaptation of the host vehicle'"'"'s speed is performed autonomously when the predicted future movement behavior would reduce safety distance between the host vehicle and said at least one sensed vehicle for which future movement behavior is predicted.

3. The method according to claim 1, wherein

the existence of a gap on the better fitting neighboring lane is predicted for the future and an adaptation of the host vehicle'"'"'s speed is performed autonomously to enable changing lane into the gap when it becomes available.

4. The method according to claim 1, wherein

for outputting the notification a symbol is displayed.

5. The method according to claim 1, wherein

for outputting the notification an acoustic and/or haptic signal is outputted.

6. The method according to claim 1, wherein

in case the predicted behavior is a cut-in of said at least one sensed vehicle from any neighboring lane onto the lane on which the host vehicle currently drives or the predicted behavior is braking and existence of a gap on the better fitting neighboring lane is determined a notification recommending lane change to the better fitting lane is output and/or lane change is autonomously performed.

7. The method according to claim 1, wherein

said at least one sensed vehicle is a preceding vehicle and in case the predicted behavior is the lane change of said at least one sensed vehicle as the preceding vehicle from a neighboring lane to a lane next to a neighboring lane and existence of a gap on this neighboring lane which is also the better fitting lane is determined a notification recommending lane change is output and/or lane change is autonomously performed.

8. The method according to claim 1, wherein

it is determined that a neighboring lane of the current lane of the host vehicle fits better in case that a successor is approaching on the current lane and no lane change is predicted for the successor or in case the neighboring lane is prioritized or in case a required adaptation of the speed of the host vehicle would be smaller on this neighboring lane than on the current lane.

9. Computer software program product embodied on a non-transitory computer-readable medium, said product performing, when executed on a computer, the method according to claim 1.