# US 11,440,541 B2 · Apparatus and method for predicting concurrent lane change and vehicle including the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,541 B2 - Document ID: US11440541B2 - Status: Granted - Kind: B2 - Application number: 16/206,336 - Filed: 2018-11-30 - Published: 2020-04-16 - Granted: 2022-09-13 - Earliest claimed: 2018-10-10 - Assignees: Hyundai Motor Company; Kia Motors Corporation; Ajou University Industry-Academic Cooperation Foundation - Applicants: Hyundai Motor Company; KIA Motors Corporation; Ajou University Industry-Academic Cooperation Foundation - Inventors: Seul Ki Han; Su Min Jo; Hoon Lee; Sang Won Lee; Sung Woo Lee; Jong Gwan Lee; Bong Sob Song - Web page: https://patentgrep.com/patent/US11440541B2 ## CPC - B60W 30/095: Predicting travel path or likelihood of collision - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/18163: {Lane change; Overtaking manoeuvres} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 2554/80: 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 - 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 apparatus for predicting a concurrent lane change of multiple vehicles to prevent or minimize collision, and a vehicle using the same. The apparatus includes a subject vehicle state estimator for estimating a state of a subject vehicle based on subject vehicle information and surrounding lane state information, a surrounding vehicle state estimator for estimating a state of a surrounding vehicle based on the subject vehicle state information and surrounding vehicle information, a lane state estimator for estimating a state of a surrounding lane based on the estimated subject vehicle state information and surrounding lane information, and a lane change predictor for predicting concurrent lane change of the subject vehicle and the surrounding vehicle based on the estimated subject vehicle state information, the estimated surrounding vehicle state information and the estimated surrounding lane state information. ## Claims ### Claim 1 An apparatus for predicting a concurrent lane change of a subject vehicle and a surrounding vehicle, the apparatus comprising: a subject vehicle state estimator configured to estimate a state of the subject vehicle based on subject vehicle information and surrounding lane state information; a surrounding vehicle state estimator configured to estimate a state of the surrounding vehicle based on the subject vehicle state information from the subject vehicle state estimator and surrounding vehicle information; a lane state estimator configured to estimate a state of a surrounding lane based on the estimated subject vehicle state information from the subject vehicle state estimator and surrounding lane information; a lane change predictor configured to predict, as a heading angle of the subject vehicle changes, a concurrent lane change of the subject vehicle and the surrounding vehicle based on the estimated subject vehicle state information from the subject vehicle state estimator, the estimated surrounding vehicle state information from the surrounding vehicle state estimator, and the estimated surrounding lane state information from the lane state estimator; and a subject vehicle controller configured to adjust the heading angle of the subject vehicle during the predicted concurrent lane change of the subject vehicle and the surrounding vehicle, wherein predicting the concurrent lane change of the subject vehicle and the surrounding vehicle is performed according to recognizing, based on the estimated subject vehicle state information, the estimated surrounding vehicle state information, and the estimated surrounding lane state information, a situation in which a front wheel of the subject vehicle and a front wheel or a rear wheel of the surrounding vehicle are located on a first same road line or a situation in which a rear wheel of the subject vehicle and the front wheel of the surrounding vehicle are located on a second same road line. ### Claim 2 (depends on 1) The apparatus according to claim 1, wherein the subject vehicle state estimator is configured to receive the subject vehicle information from an internal sensor of the subject vehicle. ### Claim 3 (depends on 1) The apparatus according to claim 1, wherein the subject vehicle state estimator is configured to receive the estimated surrounding lane state information from the lane state estimator. ### Claim 4 (depends on 1) The apparatus according to claim 1, wherein, when the state of the subject vehicle is estimated, the subject vehicle state estimator is configured to estimate the state of the subject vehicle including a position and the heading angle of the subject vehicle. ### Claim 5 (depends on 1) The apparatus according to claim 1, wherein, when the state of the subject vehicle is estimated, the subject vehicle state estimator is configured to transmit the estimated subject vehicle state information to the surrounding vehicle state estimator, the lane state estimator, and the lane change predictor. ### Claim 6 (depends on 1) The apparatus according to claim 1, wherein the surrounding vehicle state estimator is configured to receive the surrounding vehicle information from a front radar and a side radar of the subject vehicle. ### Claim 7 (depends on 1) The apparatus according to claim 1, wherein, when the state of the surrounding vehicle is estimated, the surrounding vehicle state estimator is configured to generate a convergence track based on the received surrounding vehicle information, predict the convergence track based on the generated convergence track, track the predicted convergence track, and estimate the state of the surrounding vehicle. ### Claim 8 (depends on 1) The apparatus according to claim 1, wherein, when the state of the surrounding vehicle is estimated, the surrounding vehicle state estimator is configured to estimate the state of the surrounding vehicle based on a position and the heading angle of the subject vehicle included in the estimated subject vehicle state information. ### Claim 9 (depends on 1) The apparatus according to claim 1, wherein, when the state of the surrounding vehicle is estimated, the surrounding vehicle state estimator is configured to transmit the estimated surrounding vehicle state information to the lane change predictor. ### Claim 10 (depends on 1) The apparatus according to claim 1, wherein the lane state estimator is configured to receive the surrounding lane information from a front camera sensor of the subject vehicle. ### Claim 11 (depends on 1) The apparatus according to claim 1, wherein, when the state of the surrounding vehicle is estimated, the lane state estimator is configured to estimate the state of the surrounding lane based on a position and the heading angle of the subject vehicle included in the estimated subject vehicle state information. ### Claim 12 A method of predicting a concurrent lane change of a subject vehicle and a surrounding vehicle in a concurrent lane change prediction apparatus including a subject vehicle estimator, a surrounding vehicle state estimator, a lane state estimator, and a lane change predictor, the method comprising: estimating, by the subject vehicle state estimator, a state of the subject vehicle based on subject vehicle information and surrounding lane state information; estimating, by the surrounding vehicle state estimator, a state of the surrounding vehicle based on the estimated subject vehicle state information and surrounding vehicle information; estimating, by the lane state estimator, a state of a surrounding lane based on the estimated subject vehicle state information and surrounding lane information; as a heading angle of the subject vehicle changes, predicting, by the lane change predictor, the concurrent lane change of the subject vehicle and the surrounding vehicle based on the estimated subject vehicle state information, the estimated surrounding vehicle state information, and the estimated surrounding lane state information; and adjusting, by a subject vehicle controller, the heading angle of the subject vehicle during the predicted concurrent lane change of the subject vehicle, and the surrounding vehicle, wherein the predicting of the concurrent lane change of the subject vehicle and the surrounding vehicle is performed according to recognizing, based on the estimated subject vehicle state information, the estimated surrounding vehicle state information, and the estimated surrounding lane state information, a situation in which a front wheel of the subject vehicle and a front wheel or a rear wheel of the surrounding vehicle are located on a first same road line or a situation in which a rear wheel of the subject vehicle and the front wheel of the surrounding vehicle are located on a second same road line. ### Claim 13 (depends on 12) The method according to claim 12, wherein the estimating of the state of the subject vehicle includes receiving the subject vehicle information from at least one internal sensor of the subject vehicle and receiving the estimated surrounding lane state information from the lane state estimator. ### Claim 14 (depends on 13) The method according to claim 13, wherein the estimating of the state of the subject vehicle includes estimating the state of the subject vehicle including a position and the heading angle of the subject vehicle. ### Claim 15 (depends on 13) The method according to claim 13, wherein the estimating of the state of the surrounding vehicle includes receiving the surrounding vehicle information from a front radar and a side radar of the subject vehicle. ### Claim 16 (depends on 13) The method according to claim 13, wherein the estimating of the state of the surrounding vehicle includes generating a convergence track based on the received surrounding vehicle information, predicting the convergence track based on the generated convergence track, tracking the predicted convergence track, and estimating the state of the surrounding vehicle. ### Claim 17 (depends on 13) The method according to claim 13, wherein the estimating of the state of the surrounding vehicle includes estimating the state of the surrounding vehicle based on a position and the heading angle of the subject vehicle included in the estimated subject vehicle state information. ### Claim 18 (depends on 13) The method according to claim 13, wherein the estimating of the state of the surrounding vehicle includes receiving the surrounding lane information from a front camera sensor of the subject vehicle. ### Claim 19 (depends on 13) The method according to claim 13, wherein the estimating of the state of the surrounding vehicle includes estimating the state of the surrounding lane based on a position and the heading angle of the subject vehicle included in the estimated subject vehicle state information. ### Claim 20 A subject vehicle comprising: a plurality of sensors configured to acquire driving information of the subject vehicle, driving information of a surrounding vehicle, and information of a surrounding lane; and an apparatus in communication with the plurality of sensors; wherein the apparatus is configured to, as a heading angle of the subject vehicle changes, predict a concurrent lane change of the subject vehicle and the surrounding vehicle based on the driving information of the subject vehicle, the surrounding vehicle driving information, and the surrounding lane information each received from the plurality of sensors and adjust the heading angle of the subject vehicle during the predicted concurrent lane change of the subject vehicle and the surrounding vehicle, wherein predicting the concurrent lane change of the subject vehicle and the surrounding vehicle is performed according to recognizing, based on the estimated subject vehicle state information, the estimated surrounding vehicle state information, and the estimated surrounding lane state information, a situation in which a front wheel of the subject vehicle and a front wheel or a rear wheel of the surrounding vehicle are located on a first same road line or a situation in which a rear wheel of the subject vehicle and the front wheel of the surrounding vehicle are located on a second same road line.