# US 10,372,131 B2 · Vehicles changing lanes based on trailing vehicles

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- Number: US 10,372,131 B2
- Document ID: US10372131B2
- Status: Granted
- Kind: B2
- Application number: 15/643,391
- Filed: 2017-07-06
- Published: 2019-01-10
- Granted: 2019-08-06
- Earliest claimed: 2017-07-06
- Assignees: Ford Global Technologies, LLC
- Applicants: Ford Global Technologies, LLC
- Inventors: Emma Itxel Alvarez Rodriguez; Antonio Espiritu Santo Rincon
- Web page: https://patentgrep.com/patent/US10372131B2

## CPC

- B60W 30/18163: {Lane change; Overtaking manoeuvres}
- B60K 35/22: Display screens
- B60K 35/25: using haptic output
- B60K 35/26: using acoustic output
- 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
- B60Q 5/005: {automatically actuated}
- B60Q 9/00: Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 {, e.g. haptic signalling}
- B60R 1/26: to the rear of the vehicle
- 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
- B62D 15/0255: {Automatic changing of lane, e.g. for passing another vehicle}
- G05D 1/00: Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots (drive control systems specially adapted for autonomous road vehicles B60W60/00)
- G05D 1/0094: {involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target}
- B60K 2360/21: using cameras
- B60R 2300/30: characterised by the type of image processing
- B60R 2300/8066: for monitoring rearward traffic
- B60W 2420/403: Image sensing, e.g. optical camera
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

## Abstract

Methods and apparatus are disclosed for vehicles changing lanes based on trailing vehicles. An example vehicle includes a vehicle speed sensor to measure a vehicle speed, a rearview camera to capture images when the vehicle speed is greater than a threshold, and a lane controller. The lane controller is to detect whether there is a trailing vehicle based on the images and determine, responsive to detecting the trailing vehicle, whether the trailing vehicle is providing a message to change lanes. The lane controller also is to send a lane-changing signal responsive to identifying the message.

## Claims

### Claim 1

A vehicle comprising:
a vehicle speed sensor to measure a vehicle speed;
a rearview camera to capture images when the vehicle speed is greater than a threshold; and
a lane controller to:
detect whether there is a trailing vehicle based on the images;
determine, responsive to detecting the trailing vehicle, whether the trailing vehicle is providing a message to change lanes, wherein, to determine whether the trailing vehicle is providing the message, the lane controller is to:
identify whether the trailing vehicle is within a predetermined distance corresponding to the vehicle speed;
identify whether the trailing vehicle is flashing its high beams;
identify whether a turn signal of the trailing vehicle that corresponds to a direction opposite to an adjacent lane is activated; and
determine that the trailing vehicle is providing the message responsive to determining that at least one the trailing vehicle is within the predetermined distance, the trailing vehicle is flashing its high beams, and the turn signal is activated; and
send a lane-changing signal responsive to identifying the message.

### Claim 2 (depends on 1)

The vehicle of claim 1, wherein the lane-changing signal is an alert to a driver to change lanes.

### Claim 3 (depends on 2)

The vehicle of claim 2, further including a display, speakers, and a steering wheel, wherein the alert is at least one of a visual alert presented via the display, an audio alert emitted via the speakers, and a haptic alert provided via the steering wheel.

### Claim 4 (depends on 1)

The vehicle of claim 1, further including an autonomy unit to perform an autonomous motive function, wherein the lane-changing signal is an instruction for the autonomy unit to autonomously change lanes.

### Claim 5 (depends on 1)

The vehicle of claim 1, wherein, to determine whether the trailing vehicle is providing the message, the lane controller is to:
create grayscale images based on the images captured by the rearview camera;
set data of the grayscale images to a threshold;
count a number of white pixels of the grayscale images;
determine frame light intensities based on the number of white pixels for each of the grayscale images; and
determine whether the trailing vehicle is providing the message based on the frame light intensities of the grayscale images.

### Claim 6 (depends on 1)

The vehicle of claim 1, wherein, to identify whether the trailing vehicle is within the predetermined distance, the lane controller is to:
detect a distance to the trailing vehicle based on a size of headlights of the trailing vehicle within the images;
identify the predetermined distance that corresponds to a safe trailing distance based on the vehicle speed; and
compare the distance to the predetermined distance.

### Claim 7 (depends on 1)

The vehicle of claim 1, wherein, to identify the trailing vehicle is flashing its high beams, the lane controller compares an intensity of headlights of the trailing vehicle over time based on the images captured by the rearview camera.

### Claim 8 (depends on 1)

The vehicle of claim 1, wherein, to identify whether the trailing vehicle has activated the turn signal, the lane controller compares an intensity of a left headlight of the trailing vehicle to an intensity of a right headlight of the trailing vehicle over time based on the images captured by the rearview camera.

### Claim 9 (depends on 1)

The vehicle of claim 1, wherein the lane controller identifies the direction to the adjacent lane based on the images captured by the rearview camera.

### Claim 10

A method for changing lanes based on trailing vehicles, comprising:
capturing images via a rearview camera of a vehicle;
detecting, via a processor, whether there is a trailing vehicle based on the images;
determining, responsive to detecting the trailing vehicle, whether the trailing vehicle is providing a message to change lanes, wherein determining whether the trailing vehicle is providing the message includes determining whether the trailing vehicle is within a predetermined distance of the vehicle, the predetermined distance corresponding to a speed of the vehicle; and
sending a lane-changing signal responsive to identifying the message.

### Claim 11 (depends on 10)

The method of claim 10, further including:
measuring a speed of the vehicle a vehicle speed sensor; and
capturing the images via the rearview camera responsive to determining that the speed is greater than a threshold.

### Claim 12 (depends on 10)

The method of claim 10, wherein sending the lane-changing signal includes presenting at least one of a visual alert, an audio alert, and a haptic alert to a driver.

### Claim 13 (depends on 10)

The method of claim 10, wherein sending the lane-changing signal includes transmitting an instruction for an autonomy unit of the vehicle to autonomously change lanes for the vehicle.

### Claim 14 (depends on 10)

The method of claim 10, wherein determining whether the trailing vehicle is providing the message includes determining whether the trailing vehicle is flashing its high beams.

### Claim 15 (depends on 10)

The method of claim 10, wherein determining whether the trailing vehicle is providing the message includes determining whether a turn signal of the trailing vehicle that corresponds to a direction opposite to an adjacent lane is activated.

### Claim 16

A vehicle comprising:
a vehicle speed sensor configured to measure a vehicle speed;
a rearview camera configured to capture images when the vehicle speed is greater than a threshold; and
a lane controller configured to:
detect whether there is a trailing vehicle based on the images;
determine, responsive to detecting the trailing vehicle, whether the trailing vehicle is providing a message to change lanes, wherein the lane controller is configured to determine that the trailing vehicle is providing the message to change lanes responsive to determining that the trailing vehicle is within a predetermined distance of the vehicle, wherein the predetermined distance corresponds with a speed of the vehicle; and
send a lane-changing signal responsive to identifying the message.

### Claim 17 (depends on 16)

The vehicle of claim 16, wherein the lane controller is configured to determine that the trailing vehicle is providing the message responsive to determining that the trailing vehicle is flashing its high beams.

### Claim 18 (depends on 16)

The vehicle of claim 16, wherein the lane controller is configured to determine that the trailing vehicle is providing the message responsive to determining a turn signal of the trailing vehicle that corresponds to a direction opposite to an adjacent lane is activated.