Systems and methods for providing relative lane assignment of objects at distances from the vehicle

A system for a vehicle operating on a road, the system comprising:

• a vehicle placement module configured to, based on a geographic position of the vehicle, reference a road mapping database to identify a selected lane of the road, wherein the vehicle is located within the selected lane;
• a lane assignment module configured to (i) receive information indicating identification of an object in the road and (ii) determine a relative lane of the object with respect to the selected lane, wherein the lane assignment module includes:
• a curvature plotting module configured to, based on the road mapping database, determine a curvature line of the selected lane;
• and
• an object placement module configured to (i) determine a first distance value representing a shortest distance between the object and the curvature line and (ii) determine whether the relative lane of the object is the selected lane based on the first distance value and a lane width value;
• and
• an alert generation module configured to selectively generate an alert signal in response to the object being in the selected lane,
• wherein:
• the alert generation module is configured to send the alert signal to at least one of:
• a brake actuator module configured to actuate brakes of the vehicle to slow the vehicle in response to the alert signal;
• a steering actuator module configured to change a trajectory of the vehicle to move the vehicle into an adjacent lane in response to the alert signal;
• a haptic actuator module configured to actuate a vibrator sensor attached to a steering wheel of the vehicle in response to the alert signal;
• and
• a driver warning device configured to alert a driver of the vehicle to a collision risk in response to the alert signal;
• the lane assignment module further includes a width determination module configured to calculate the lane width value of the selected lane at a first point on the curvature line,
• the width determination module is configured to selectively calculate:
• (i) a second distance value representing a distance between the geographic position of the vehicle and the first point and (ii) the lane width value based on the second distance value,
• the width determination module is configured to calculate the lane width value according to (i) a first equation in response to a first condition being met and (ii) a second equation in response to a second condition being met;
• the first equation is based on a location of the vehicle along an x-axis, a location of the object along the x-axis, a distance gain value, a distance coefficient value, and a curve gain value;
• the x-axis is tangential to the curvature line at the first point;
• and
• the second equation is based on a predetermined distance, the distance gain value, the distance coefficient value, and the curve gain value.