System and method for performing a lane change

Patent metadata

Field	Value
Publication number	US-11807239-B2
Application number	US-201916717560-A
Country	US
Kind code	B2
Filing date	Dec 17, 2019
Priority date	Dec 17, 2018
Publication date	Nov 7, 2023
Grant date	Nov 7, 2023

Abstract

Technologies and techniques for automatically preparing and/or executing a possible lane change with an ego vehicle traveling in moving traffic from a first lane to a second lane of a multi-lane roadway by means of a driver assistance system and to a driver assistance system. Gaps are detected between two vehicles, and the relative positions and movements of the gaps relative to the ego vehicle will facilitate a potential lane change of the ego vehicle. The driver assistance system adjusts the following distance and/or following speed of the ego vehicle relative to the vehicle ahead in such a way that changing a lane and merging into a gap of an adjacent lane is possible by means of a transverse guidance of the ego vehicle.

First claim

The invention claimed is:

1. A method for automatically configuring a lane change from a first lane with an ego vehicle, comprising:
activating a driver assistance system in the ego vehicle during ego vehicle operation to transition the ego vehicle operation from a manual operating mode to a driver-assisted mode for executing the lane change;
detecting, via a sensor system, a gap between a first vehicle traveling in front of a second vehicle in a second lane after the driver assistance system is activated;
detecting, via the sensor system, a gap size of the detected gap, wherein the gap size comprises (i) a gap space for the ego vehicle, (ii) a first safety distance for the first vehicle in the second lane relative to the gap space, and (iii) a second safety distance for the second vehicle in the second lane relative to the gap space;
detecting, via the sensor system, (i) a minimum following distance between the ego vehicle and another vehicle in front of the ego vehicle in the first lane, and (ii) a maximum following distance between the ego vehicle and the another vehicle, wherein the maximum following distance is further configured to meet the second safety distance;
adjusting, via the driver assistance system, a following speed of the ego vehicle relative to the another vehicle, such that the ego vehicle is positioned in the area of the gap size without violating the minimum following distance and maximum following distance; and
facilitating, via the driver assistance system, a lane change into the gap size based on the adjusting, utilizing a transverse guidance.

2. The method of claim 1 , wherein activating the driver assistance system comprises activating the driver assistance system in response to receiving a signal comprising at least one of predictive route data and/or swarm data in the area of the ego vehicle indicating an obligatory lane change in a vicinity of the ego vehicle.

3. The method of claim 2 , wherein the signal comprises a car2car communication.

4. The method of claim 1 , further comprising deactivating the driver assistance system after the lane change is facilitated.

5. The method of claim 1 , wherein the detecting the gap comprises detecting the gap in an area behind the ego vehicle.

6. The method of claim 1 , wherein the minimum following distance and maximum following distance are detected as a function of speed.

7. The method of claim 1 , further comprising signaling, via the driver assistance system, an upcoming lane change, prior to facilitating the lane change into the gap size.

8. A system for automatically configuring a lane change from a first lane with an ego vehicle, comprising:
a sensor system;
a driver assistance system operatively coupled to the sensor system, wherein the sensor system and driver assistance system are configured to
activate the driver assistance system in the ego vehicle during ego vehicle operation to transition the ego vehicle operation from a manual operating mode to a driver-assisted mode for executing the lane change;
detect, via the sensor system, a gap between a first vehicle traveling in front of a second vehicle in a second lane after the driver assistance system is activated;
detect, via the sensor system, a gap size of the detected gap, wherein the gap size comprises (i) a gap space for the ego vehicle, (ii) a first safety distance for the first vehicle in the second lane relative to the gap space, and (iii) a second safety distance for the second vehicle in the second lane relative to the gap space;
detect, via the sensor system, (i) a minimum following distance between the ego vehicle and another vehicle in front of the ego vehicle in the first lane, and (ii) a maximum following distance between the ego vehicle and the another vehicle, wherein the maximum following distance is further configured to meet the second safety distance;
adjust, via the driver assistance system, a following speed of the ego vehicle relative to the another vehicle, such that the ego vehicle is positioned in the area of the gap size without violating the minimum following distance and maximum following distance; and
facilitate, via the driver assistance system, a lane change into the gap size based on the adjusting, utilizing a transverse guidance.

9. The system of claim 8 , wherein the driver assistance system is configured to activate the driver assistance system by activating the driver assistance system in response to receiving a signal comprising at least one of predictive route data and/or swarm data in the area of the ego vehicle indicating an obligatory lane change in a vicinity of the ego vehicle.

10. The system of claim 9 , wherein the signal comprises a car2car communication.

11. The system of claim 8 , wherein the driver assistance system is configured to deactivate the driver assistance system after the lane change is facilitated.

12. The system of claim 8 , wherein the sensor system is configured to detect the gap by detecting the gap in an area behind the ego vehicle.

13. The system of claim 8 , wherein the minimum following distance and maximum following distance are detected as a function of speed.

14. The system of claim 8 , wherein the drivers assistance system is configured to signal an upcoming lane change, prior to facilitating the lane change into the gap size.

15. A method for automatically configuring a lane change from a first lane with an ego vehicle, comprising:
activating a driver assistance system in the ego vehicle during ego vehicle operation to transition the ego vehicle operation from a manual operating mode to a driver-assisted mode for executing the lane change;
detecting, via a sensor system, a gap between a first vehicle traveling in front of a second vehicle in a second lane after the driver assistance system is activated;
detecting, via the sensor system, a gap size of the detected gap, wherein the gap size comprises (i) a gap space for the ego vehicle in an area behind the ego vehicle, (ii) a first safety distance for the first vehicle in the second lane relative to the gap space, and (iii) a second safety distance for the second vehicle in the second lane relative to the gap space;
detecting, via the sensor system, (i) a minimum following distance between the ego vehicle and another vehicle in front of the ego vehicle in the first lane, and (ii) a maximum following distance between the ego vehicle and the another vehicle, wherein the maximum following distance is further configured to meet the second safety distance;
adjusting, via the driver assistance system, a following speed of the ego vehicle relative to the another vehicle, such that the ego vehicle is positioned in the area of the gap size without violating the minimum following distance and maximum following distance; and
facilitating, via the driver assistance system, a lane change into the gap size based on the adjusting, utilizing a transverse guidance.

16. The method of claim 15 , wherein activating the driver assistance system comprises activating the driver assistance system in response to receiving a signal comprising at least one of predictive route data and/or swarm data in the area of the ego vehicle indicating an obligatory lane change in a vicinity of the ego vehicle.

17. The method of claim 16 , wherein the signal comprises a car2car communication.

18. The method of claim 15 , further comprising deactivating the driver assistance system after the lane change is facilitated.

19. The method of claim 15 , wherein the minimum following distance and maximum following dista

Assignees

• Volkswagen Ag

Inventors

• Eigel Thomas
• Kallmeyer Felix

Classifications

• B60W30/18163 Primary

  Lane change; Overtaking manoeuvres · CPC title

• B60W30/162

  Speed limiting therefor · CPC title

• B60W50/14

  Means for informing the driver, warning the driver or prompting a driver intervention · CPC title

• B60W2554/404

  Characteristics · CPC title

• B60W2554/801

  Lateral distance · CPC title