Lane change assistant

• US 10,451,730 B2
• Filed: 05/30/2017
• Issued: 10/22/2019
• Est. Priority Date: 03/31/2017
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Talamonti, Walter Joseph, Tijerina, Louis, Szwabowski, Steven Joseph
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US15/608,292
• Publication Number:
  US 20180281854A1
• Time in Patent Office: 875 Days
• Field of Search: 701 1, 701301
• CPC Class Codes: B60K 2360/161 Explanation of functions, e.g. instructions
• CPC Class Codes: B60K 2360/172 Driving mode indication
• CPC Class Codes: B60K 2360/179 Distances to obstacles or vehicles
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60K 35/60 Instruments characterised by their location or relative disposition in or on vehicles arrangements of lighting devices on dashboards B60Q3/10
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/406 Traffic density
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 50/16 Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: B62D 15/029 : Steering assistants using warnings or proposing actions to the driver without influencing the steering system
• CPC Class Codes: G01S 13/931 : of land vehicles
• CPC Class Codes: G01S 2013/932 : using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G02B 27/01 : Head-up displays
• CPC Class Codes: G05D 1/0212 : with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G06F 3/016 : Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G08G 1/096716 : where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096822 : where the segments of the route are transmitted to the vehicle at different locations and times
• CPC Class Codes: G08G 1/16 : Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/162 : event-triggered
• CPC Class Codes: G08G 1/164 : Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G08G 1/205 : Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental

Abstract

A computing device in a vehicle can determine a time bound for a lane change maneuver based on determining a reaction time, an occupant acceptance time, a vehicle maneuver time and a maneuver cancellation time and request authorization to perform the lane change maneuver. The computing device can determine the time bound has expired, and cancel the authorization request based on the expired time bound.

Claims

1. A method, comprising:

determining a time bound for a lane change maneuver based on determining (i) an occupant acceptance time that is a sum of a vehicle maneuver time and a reaction time, and (ii) a maneuver cancellation time;

after determining the time bound, and without user input, requesting authorization to perform the lane change maneuver;

determining the time bound has expired; and

canceling the authorization request and controlling the vehicle based on the time bound having expired.

2. The method of claim 1, further comprising determining the reaction time based on predetermined values.

3. The method of claim 1, further comprising determining the occupant acceptance time based on the reaction time and the vehicle maneuver time.

4. The method of claim 1, further comprising determining the vehicle maneuver time based on the time during which a vehicle can execute the lane change maneuver.

5. The method of claim 1, further comprising determining the maneuver cancellation time based on determining an end of the lane change maneuver.

6. The method of claim 1, further comprising determining the time bound has expired including determining that the lane change maneuver cannot be performed.

7. The method of claim 6, wherein determining the time bound has expired includes determining that reaction time and occupant acceptance time has expired.

8. The method of claim 7, further comprising, receiving input responding to the authorization request before the time bound expires and then controlling a vehicle to perform the lane change maneuver.

9. The method of claim 1, wherein determining the lane change maneuver includes adapting a vehicle trajectory to vehicle traffic in an adjacent lane.

10. The method of claim 9, wherein adapting the vehicle trajectory to vehicle traffic in the adjacent lane includes adapting vehicle position, vehicle speed, and vehicle to traffic in the adjacent lane.

11. A computer apparatus, programmed to:

determine a time bound for a lane change maneuver based on determining (i) an occupant acceptance time that is a sum of a vehicle maneuver time and a reaction time, and (ii) a maneuver cancellation time;

after determining the time bound, and without user input, request authorization to perform the lane change maneuver;

determine the time bound has expired; and

cancel the authorization request and control the vehicle based on the time bound having expired.

12. The apparatus of claim 11, further comprising determine the reaction time based on predetermined values.

13. The apparatus of claim 11, further comprising determine the occupant acceptance time based on the reaction time and the vehicle maneuver time.

14. The apparatus of claim 11, further comprising determine the vehicle maneuver time based on the time during which a vehicle can execute the lane change maneuver.

15. The apparatus of claim 11, further comprising determine the maneuver cancellation time based on determining an end of the lane change maneuver.

16. The apparatus of claim 11, further comprising determine the time bound has expired including determine that the lane change maneuver cannot be performed.

17. The apparatus of claim 16, wherein determine the time bound has expired includes determine that the reaction time and the occupant acceptance time has expired.

18. The apparatus of claim 17, further comprising receive input responding to the authorization request before the time bound expires and then control a vehicle to perform the lane change maneuver.

19. The apparatus of claim 11, wherein determine the lane change maneuver includes adapt vehicle trajectory to vehicle traffic in an adjacent lane.

20. The apparatus of claim 19, wherein adapt the vehicle trajectory to vehicle traffic in the adjacent lane includes adapt vehicle position, vehicle speed, and vehicle direction to traffic in the adjacent lane.