Systems and methods for anticipatory lane change

An anticipatory lane change system for assisting a host vehicle positioned in a current lane that is adjacent to a first gap in an adjacent lane, the anticipatory lane change system comprising:

• a non-transitory memory storing instructions that are executed by a processor and cause the processor to:
• identify a potential lane change location and receive proximate vehicle data associated with proximate vehicles, wherein the proximate vehicle data includes proximate vehicle identifiers and proximate vehicle current kinematic data;
• generate future kinematic data by iteratively calculating kinematic data for a set of proximate vehicles, including a first preceding vehicle, a second preceding vehicle, and a second gap separating the first preceding vehicle and the second preceding vehicle, in the adjacent lane, at predictive increments until the predictive increment corresponds to a future time, wherein the first preceding vehicle is positioned between the second preceding vehicle and the host vehicle in a longitudinal direction, wherein the future kinematic data for a proximate vehicle of the set of proximate vehicles is based on iteratively comparing the proximate vehicle current kinematic data to a prediction model of a set of prediction models;
• determine whether the first gap will be available at the potential lane change location at the future time based on the future kinematic data, wherein the first gap is located between the first preceding vehicle and the host vehicle in the longitudinal direction;
• and
• initiate a lane change maneuver for the host vehicle in response to determining that the first gap will be available at the potential lane change location at the future time.

An anticipatory lane change method for assisting a host vehicle positioned in a current lane that is changing to a first qap in a lane that is adjacent to the current lane, the anticipatory lane change method comprising:

• identifying a potential lane change location;
• receiving proximate vehicle data associated with proximate vehicles and a second gap separating at least two proximate vehicles, wherein the proximate vehicle data includes proximate vehicle identifiers, proximate vehicle current kinematic data, and a second gap length of the second gap;
• identifying a set of proximate vehicles of the proximate vehicles including the at least two proximate vehicles;
• comparing the proximate vehicle data in the set of proximate vehicles to a prediction model to calculate a predictive increment of kinematic data;
• determining the predictive increment of kinematic data does not correspond to a future time;
• comparing the predictive increment of kinematic data to the prediction model, and based on a result of comparison, calculate an additional predictive increment of kinematic data;
• identifying the additional predictive increment of kinematic data as future kinematic data when the additional predictive increment of kinematic data corresponds to the prediction model for the future time;
• determining whether the first gap will be available at the potential lane change location at the future time based on the future kinematic data;
• and
• initiating a lane change maneuver for the host vehicle in response to determining that the first gap will be available at the potential lane change location at the future time.