CONTROLLING A VEHICLE LANE-CHANGE
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United States of America Patent
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Issued Date -
Jan 4, 2024
app pub date -
Jun 29, 2022
filing date -
Jun 29, 2022
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status (Latency Note)
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Abstract
Upon detecting a lane-change trigger to move an ego vehicle from a current lane to a target lane, a target vehicle is identified in the target lane. Then a set of candidate trajectories is built for the lane-change maneuver by, for each of the target vehicles in the target lane: determining a set of constraints for a lane-change maneuver based on current data collected in the ego vehicle, including speed and distance constraints for the ego vehicle, and adding to the set of candidate trajectories, from a stored set of trajectories, a candidate trajectory for the lane-change maneuver that satisfies the constraints for the lane-change maneuver. Upon determining that the set of candidate trajectories has been built for each of the target vehicles, an optimal trajectory is selected from the set of candidate trajectories. A longitudinal acceleration of the ego vehicle is commanded based on the optimal trajectory.
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