# US 11,999,350 B2 · Vehicle control system and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,350 B2 - Document ID: US11999350B2 - Status: Granted - Kind: B2 - Application number: 17/294,381 - Filed: 2019-11-14 - Published: 2022-01-13 - Granted: 2024-06-04 - Earliest claimed: 2018-11-14 - Assignees: Jaguar Land Rover Limited - Applicants: Jaguar Land Rover Limited - Inventors: Adam Adwan - Web page: https://patentgrep.com/patent/US11999350B2 ## CPC - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - B60W 40/04: Traffic conditions - B60W 40/105: Speed - B60W 60/0015: {specially adapted for safety} - B60W 60/00274: {considering possible movement changes} - B60W 2520/10: Longitudinal speed - B60W 2520/105: Longitudinal acceleration - B60W 2552/40: Coefficient of friction - B60W 2554/4042: Longitudinal speed - B60W 2554/802: Longitudinal distance - B60W 2554/804: Relative longitudinal speed - B60W 2555/20: Ambient conditions, e.g. wind or rain - B60W 2555/60: Traffic rules, e.g. speed limits or right of way - 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 ## Abstract There is disclosed a control system and a method for a host vehicle operable in an autonomous mode. The control system comprises one or more controllers. The speed and/or path of the vehicle in the autonomous mode is appropriate to a driving context. ## Claims ### Claim 1 A control system for a host vehicle operable in an autonomous mode, the control system comprising one or more controllers, the control system configured to: determine a requirement for the host vehicle within a first lane to manoeuvre into a second lane to perform an overtake; check whether an abort condition is satisfied, wherein satisfaction of the abort condition is determined by checking a third lane for another road user converging with or alongside the host vehicle before the host vehicle manoeuvres into the second lane to perform the overtake, wherein the third lane is on an opposite side of the first lane to the second lane; and if the abort condition is satisfied, cause the host vehicle to remain in the first lane. ### Claim 2 (depends on 1) The control system of claim 1, wherein the one or more controllers collectively comprise: at least one electronic processor having an electrical input for receiving information for enabling the determination; and at least one electronic memory device electrically coupled to the at least one electronic processor and having instructions stored therein; and wherein the at least one electronic processor is configured to access the at least one memory device and execute the instructions thereon so as to cause the host vehicle to perform the determining a requirement, the checking whether the abort condition is satisfied, and the causing the host vehicle to remain in the first lane. ### Claim 3 (depends on 1) The control system of claim 1, configured to: check whether a second abort condition is satisfied, wherein if the abort condition and the second abort condition are not satisfied, the host vehicle completes the manoeuvre into the second lane, and wherein if any one or more of the abort condition and the second abort condition is satisfied, the host vehicle remains in the first lane. ### Claim 4 (depends on 3) The control system of claim 3, wherein satisfaction of the second abort condition is determined by checking for another road user within the second lane. ### Claim 5 (depends on 1) The control system of any one of claim 1, wherein the overtake is an overtake of a road user, wherein the control system is configured to: increase separation of the host vehicle from the road user to be overtaken in dependence on the determination; subsequently cause acceleration of the host vehicle towards the road user to be overtaken, such that the host vehicle achieves a higher speed than the road user to be overtaken; and manoeuvre the host vehicle into the second lane to perform the overtake. ### Claim 6 (depends on 5) The control system of claim 5, configured to check the abort condition at least after the host vehicle has commenced accelerating towards the road user to be overtaken. ### Claim 7 (depends on 5) The control system of claim 5, wherein the amount of the increased separation and/or acceleration is dependent on one or more of: at least one speed-dependent variable associated with the host vehicle and/or the road user to be overtaken; at least one variable associated with another road user behind the host vehicle; a variable associated with infrastructure. ### Claim 8 A method for controlling a host vehicle operable in an autonomous mode, the method comprising: determining a requirement for the host vehicle within a first lane to manoeuvre into a second lane to perform an overtake; checking whether an abort condition is satisfied, wherein satisfaction of the abort condition is determined by checking a third lane for another road user converging with or alongside the host vehicle before the host vehicle manoeuvres into the second lane to perform the overtake, wherein the third lane is on an opposite side of the first lane to the second lane; and if the abort condition is satisfied, causing the host vehicle to remain in the first lane. ### Claim 9 (depends on 1) A vehicle comprising the control system of any of claim 1. ### Claim 10 (depends on 8) A control system for a host vehicle operable in an autonomous mode, the control system comprising one or more controllers, the control system comprising computer software that, when executed by the one or more controllers, causes the host vehicle to perform the method of claim 8. ### Claim 11 (depends on 8) A non-transitory, computer-readable storage medium storing instructions thereon that, when executed by one or more electronic processors, causes the one or more electronic processors to carry out the method of claim 8.