Lane changing for autonomous vehicles

Patent metadata

Field	Value
Publication number	US-9475491-B1
Application number	US-201514732958-A
Country	US
Kind code	B1
Filing date	Jun 8, 2015
Priority date	Jun 8, 2015
Publication date	Oct 25, 2016
Grant date	Oct 25, 2016

Abstract

Various manners of changing travel lanes for an autonomous vehicle are described. A target gap between a pair of neighboring vehicles located in a travel lane that is adjacent to the current travel lane of the autonomous vehicle can be identified. It can be determined whether the size of the first target gap is acceptable or unacceptable. Responsive to determining that the size of the first target gap is unacceptable, an alternative lane changing maneuver for the autonomous vehicle can be determined. The autonomous vehicle can be caused to implement the alternative lane changing maneuver.

First claim

What is claimed is:

1. A method of changing travel lanes for an autonomous vehicle, the method comprising:
identifying a first target gap between a first pair of neighboring vehicles located in a travel lane adjacent to a current travel lane of the autonomous vehicle;
determining whether a size of the first target gap is acceptable or unacceptable;
responsive to determining that the size of the first target gap is unacceptable, determining an alternative lane changing maneuver for the autonomous vehicle based at least partially on a distance between the autonomous vehicle and a lane change trigger event; and
causing the autonomous vehicle to implement the alternative lane changing maneuver.

2. The method of claim 1 , further including:
responsive to determining that the size of the first target gap is acceptable, causing the autonomous vehicle to implement one or more maneuvers to merge into the first target gap.

3. A method of changing travel lanes for an autonomous vehicle, the method comprising:
identifying a first target gap between a first pair of neighboring vehicles located in a travel lane adjacent to a current travel lane of the autonomous vehicle;
determining whether a size of the first target gap is acceptable or unacceptable;
responsive to determining that the size of the first target gap is unacceptable, determining an alternative lane changing maneuver for the autonomous vehicle, the alternative lane changing maneuver being a less conservative lane changing maneuver; and
causing the autonomous vehicle to implement the alternative lane changing maneuver.

4. The method of claim 3 , wherein the less conservative lane changing maneuver includes safely maneuvering the autonomous vehicle into the first target gap when the size of the first target gap is less than a predetermined size for standard lane changing.

5. A method of changing travel lanes for an autonomous vehicle, the method comprising:
identifying a first target gap between a first pair of neighboring vehicles located in a travel lane adjacent to a current travel lane of the autonomous vehicle;
determining whether a size of the first target gap is acceptable or unacceptable;
responsive to determining that the size of the first target gap is unacceptable, determining an alternative lane changing maneuver for the autonomous vehicle, the alternative lane changing maneuver including:
identifying a second target gap between a second pair of neighboring vehicles located in a travel lane adjacent to the current travel lane of the autonomous vehicle, the first pair of neighboring vehicles being different than the second pair of neighboring vehicles, the second target gap being located forward of the first target gap in a travel direction of the travel lane adjacent to the current travel lane of the autonomous vehicle;
identifying a large vehicle in the travel lane adjacent to the current travel lane of the autonomous vehicle, wherein the second target gap is located forward of the large vehicle; and
passing the large vehicle; and

causing the autonomous vehicle to implement the alternative lane changing maneuver.

6. A method of changing travel lanes for an autonomous vehicle, the method comprising:
identifying a first target gap between a first pair of neighboring vehicles located in a travel lane adjacent to a current travel lane of the autonomous vehicle;
determining whether a size of the first target gap is acceptable or unacceptable;
responsive to determining that the size of the first target gap is unacceptable, determining an alternative lane changing maneuver for the autonomous vehicle, the alternative lane changing maneuver including:
identifying a second target gap between a second pair of neighboring vehicles located in a travel lane adjacent to the current travel lane of the autonomous vehicle, the first pair of neighboring vehicles being different than the second pair of neighboring vehicles, the second target gap being located forward of the first target gap in a travel direction of the travel lane adjacent to the current travel lane of the autonomous vehicle;
identifying a slow vehicle in the travel lane adjacent to the current travel lane of the autonomous vehicle, wherein the second target gap is located forward of the slow vehicle; and
passing the slow vehicle; and

causing the autonomous vehicle to implement the alternative lane changing maneuver.

7. A method of changing travel lanes for an autonomous vehicle, the method comprising:
identifying a first target gap between a first pair of neighboring vehicles located in a travel lane adjacent to a current travel lane of the autonomous vehicle, the first pair of neighboring vehicles including a forward vehicle and a rear vehicle;
controlling the speed of the autonomous vehicle so that it is substantially the same as the speed of the forward vehicle;
controlling the location of the autonomous vehicle so that it is near a back end of the forward vehicle;
determining whether a size of the first target gap is acceptable or unacceptable;
responsive to determining that the size of the first target gap is unacceptable, determining an alternative lane changing maneuver for the autonomous vehicle; and
causing the autonomous vehicle to implement the alternative lane changing maneuver.

8. A system for changing travel lanes for an autonomous vehicle, the system comprising:
a sensor system operable to detect objects in an external environment of the autonomous vehicle;
a processor operatively connected to the sensor system, the processor being programmed to initiate executable operations comprising:
identifying a first target gap between a first pair of neighboring vehicles located in a travel lane adjacent to a current travel lane of the autonomous vehicle;
determining whether a size of the first target gap is acceptable or unacceptable;
responsive to determining that the size of the first target gap is unacceptable, determining an alternative lane changing maneuver for the autonomous vehicle based at least partially on a distance between the autonomous vehicle and a lane change trigger event; and

causing the autonomous vehicle to implement the alternative lane changing maneuver.

9. A system for changing travel lanes for an autonomous vehicle, the system comprising:
a sensor system operable to detect objects in an external environment of the autonomous vehicle;
a processor operatively connected to the sensor system, the processor being programmed to initiate executable operations comprising:
identifying a first target gap between a first pair of neighboring vehicles located in a travel lane adjacent to a current travel lane of the autonomous vehicle;
determining whether a size of the first target gap is acceptable or unacceptable;
responsive to determining that the size of the first target gap is unacceptable, determining an alternative lane changing maneuver for the autonomous vehicle, the alternative lane changing maneuver being a less conservative lane changing maneuver; and
causing the autonomous vehicle to implement the alternative lane changing maneuver.

10. The system of claim 9 , wherein the less conservative lane changing maneuver includes safely maneuvering the autonomous vehicle into the first target gap when the size of the first target gap is less than a predetermined size for standard lane changing.

11. A system for changing travel lanes for an autonomous vehicle, the system comprising:
a sensor system operable to detect objects in an external environment of the autonomous vehicle;
a processor operatively connected to the sensor system, the processor being programmed to initiate executable operations comprising:
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Assignees

• Toyota Motor Eng & Mfg North America Inc

Inventors

• Nagasaka Naoki
• Prokhorov Danil V

Classifications

• B60W30/18163 Primary

  Lane change; Overtaking manoeuvres · CPC title

• B60W2554/80

  Spatial relation or speed relative to objects · CPC title

• B60W30/16

  Control of distance between vehicles, e.g. keeping a distance to preceding vehicle · CPC title

• B60W30/00 Primary

  Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units · CPC title

• B60W2550/30

  Operations & Transport · mapped topic