# US 11,027,736 B2 · Systems and methods for anticipatory lane change > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,027,736 B2 - Document ID: US11027736B2 - Status: Granted - Kind: B2 - Application number: 15/965,345 - Filed: 2018-04-27 - Published: 2019-10-31 - Granted: 2021-06-08 - Earliest claimed: 2018-04-27 - Assignees: Honda Motor Co., Ltd.; The Regents of the University of California - Applicants: Honda Motor Co., Ltd.; The Regents of the University of California - Inventors: Samer Rajab; Xue Bai; Guoyuan Wu; Kanok Boriboonsomsin; Matthew J. Barth; Nigel Williams - Web page: https://patentgrep.com/patent/US11027736B2 ## CPC - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 40/04: Traffic conditions - B60W 50/0097: {Predicting future conditions} - B60W 60/0027: {using trajectory prediction for other traffic participants} - B60W 60/00272: {relying on extrapolation of current movement} - B60W 60/00276: {for two or more other traffic participants} - G06N 5/04: Inference or reasoning models - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 2050/0026: {Lookup tables or parameter maps} - B60W 2552/00: Input parameters relating to infrastructure - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/00: Input parameters relating to objects - B60W 2554/4046: Behavior, e.g. aggressive or erratic - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2556/65: Data transmitted between vehicles - B60W 2710/18: Braking system - B60W 2710/20: Steering systems - B60W 2720/106: Longitudinal acceleration - B60W 2754/10: Spatial relation or speed relative to objects - 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 - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract An anticipatory lane change system is described for assisting a host vehicle positioned in a current lane that is adjacent an adjacent lane. The anticipatory lane change system may include an identification module that identifies a potential lane change location and receives proximate vehicle data associated with proximate vehicles. The anticipatory lane change system may include a prediction module that predicts future kinematic data at a future time for a set of the proximate vehicles. The anticipatory lane change system may include a determination module that determines whether a gap will be available at the potential lane change location at the future time based on the future kinematic data. The anticipatory lane change system may include a lane change module that initiates a lane change maneuver for the host vehicle in response to determining that the gap will be available at the potential lane change location at the future time. ## Claims ### Claim 1 An anticipatory lane change system for assisting a host vehicle positioned in a current lane that is changing 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; predict future kinematic data for a future time for a set of proximate vehicles of the proximate vehicles, wherein the future kinematic data describes a pair of proximate vehicles including a first preceding vehicle and a second preceding vehicle, of the set of proximate vehicles, and a second gap separating the first preceding vehicle and the second preceding vehicle, wherein the first preceding vehicle is positioned between the second preceding vehicle and the host vehicle in a longitudinal direction, and wherein the future kinematic data 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. ### Claim 2 (depends on 1) The anticipatory lane change system of claim 1, wherein the proximate vehicle data for the second preceding vehicle is received from a vehicle-to-vehicle network and the proximate vehicle data for the first preceding vehicle is received from proximate vehicle sensors of the host vehicle. ### Claim 3 (depends on 1) The anticipatory lane change system of claim 1, wherein a particular vehicle identifier, of the vehicle identifiers, associates at least a portion of current kinematic data with a particular proximate vehicle of the proximate vehicles. ### Claim 4 (depends on 1) The anticipatory lane change system of claim 1, wherein the current kinematic data includes position data, velocity data, and acceleration data for the first preceding vehicle and the second preceding vehicle. ### Claim 5 (depends on 1) The anticipatory lane change system of claim 1, wherein the iterative comparison of the proximate vehicle current kinematic data to the prediction model includes instructions that are executed by the processor to cause the processor to: compare the proximate vehicle data of the proximate vehicles in the set of proximate vehicles to the prediction model, and based on a result of comparison, calculate kinematic data for a predictive increment; determine whether the predictive increment corresponds to the future time; and in response to determining the predictive increment does not correspond to the future time, comparing the calculated kinematic data to the prediction model to calculate additional kinematic data at a next predictive increment. ### Claim 6 (depends on 5) The anticipatory lane change system of claim 5, wherein the future time corresponds to a plurality of seconds, and each predictive increment corresponds to a particular time step. ### Claim 7 (depends on 5) The anticipatory lane change system of claim 5, wherein the prediction model is a lookup table based on naturalistic behavior data. ### Claim 8 (depends on 5) The anticipatory lane change system of claim 5, wherein in response to determining the predictive increment of kinematic data does correspond to the future time, the instructions that are executed by the processor cause the processor to use the additional kinematic data as the future kinematic data. ### Claim 9 (depends on 1) The anticipatory lane change system of claim 1, wherein the instructions that are executed by the processor cause the processor to determine if the first gap will be available based on a predicted gap length of the first gap at the future time. ### Claim 10 (depends on 1) The anticipatory lane change system of claim 1, wherein the instructions that are executed by the processor cause the processor to initiate the lane change maneuver with an advanced driver-assistance system. ### Claim 11 (depends on 1) The anticipatory lane change system of claim 1, wherein in response to determining that the first gap will not be available at the future time, identify an updated potential lane change location. ### Claim 12 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. ### Claim 13 (depends on 12) The anticipatory lane change system of claim 12, wherein the current kinematic data includes position data, velocity data, and acceleration data for the first preceding vehicle and the second preceding vehicle. ### Claim 14 (depends on 12) The anticipatory lane change system of claim 12, wherein the future time corresponds to a plurality of seconds, and each predictive increment corresponds to a second. ### Claim 15 (depends on 12) The anticipatory lane change system of claim 12, wherein the instructions that are executed by the processor cause the processor to determine if the first gap will be available based on a predicted gap length of the first gap at the future time. ### Claim 16 (depends on 12) The anticipatory lane change system of claim 12, wherein the proximate vehicle data for the second preceding vehicle is received from a vehicle-to-vehicle network and the proximate vehicle data for the first preceding vehicle is received from proximate vehicle sensors of the host vehicle. ### Claim 17 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. ### Claim 18 (depends on 17) The anticipatory lane change method claim 17, wherein the future time corresponds to a plurality of seconds, and each predictive increment corresponds to a second. ### Claim 19 (depends on 17) The anticipatory lane change method of claim 17, wherein the proximate vehicle data for a first proximate vehicle of the set of proximate vehicles is received from a vehicle-to-vehicle network and the proximate vehicle data for a second proximate vehicle of the set of proximate vehicles is received from proximate vehicle sensors of the host vehicle. ### Claim 20 (depends on 17) The anticipatory lane change method of claim 17, wherein determining if the first gap will be available is based on a predicted gap length of the first gap at the future time.