# US 12,005,903 B2 · Method for completing overtake maneuvers in variant traffic conditions > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,903 B2 - Document ID: US12005903B2 - Status: Granted - Kind: B2 - Application number: 17/643,482 - Filed: 2021-12-09 - Published: 2023-06-15 - Granted: 2024-06-11 - Earliest claimed: 2021-12-09 - Assignees: GM Global Technology Operations LLC - Applicants: GM Global Technology Operations LLC - Inventors: Paul A Adam; Jeffrey S Parks; Christopher J Trush; Christopher Michael Churay; Namal P Kumara - Web page: https://patentgrep.com/patent/US12005903B2 ## CPC - B60W 30/14: {Adaptive} cruise control - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle - B60W 40/04: Traffic conditions - B60W 40/105: Speed - B60W 2554/40: Dynamic objects, e.g. animals, windblown objects - B60W 2554/802: Longitudinal distance - B60W 2554/804: Relative longitudinal speed - 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 In an exemplary embodiment, a vehicle system is provided that includes a sensor array and a processor. The sensor array is configured to generate vehicle sensor data pertaining to a target vehicle in proximity to the vehicle. The processor is coupled to the sensor array, and is configured to at least facilitate: beginning an overtake maneuver for the vehicle, via instructions provided to the drive system, when conditions for an overtake of the target vehicle by the vehicle are initially determined by the processor to be valid; subsequent to the beginning of the overtake maneuver, determining via the processor whether the conditions for the overtake of the target vehicle are still valid, based on updated sensor data reflecting variant traffic conditions; and further controlling the overtake maneuver based on the determining as to whether the conditions for the overtake of the target vehicle are still valid. ## Claims ### Claim 1 A method comprising: obtaining, via one or more sensors of a host vehicle, vehicle sensor data pertaining to a target vehicle in proximity to the host vehicle; beginning an overtake maneuver for the host vehicle, via instructions provided by a processor of the host vehicle, with an initial increase in velocity for the host vehicle, when conditions for an overtake of the target vehicle by the host vehicle are initially determined by the processor to be valid; subsequent to the beginning of the overtake maneuver, determining via the processor whether the conditions for the overtake of the target vehicle are still valid, based on updated sensor data reflecting variant traffic conditions; and further controlling the overtake maneuver based on the determining as to whether the conditions for the overtake of the target vehicle are still valid, via the instructions provided by the processor, by: calculating, via the processor, a further increase in velocity that would be required to successfully complete the overtake maneuver; and selectively completing the overtake maneuver based on whether the further increase in velocity, in combination with the initial increase in velocity, would exceed a pre-set velocity as selected by a user of the host vehicle by an amount that is less than or equal to a predetermined maximum velocity change threshold that is stored in a memory of the host vehicle. ### Claim 2 (depends on 1) The method of claim 1, wherein the conditions for the overtake of the target vehicle are based at least in part on a speed of the host vehicle, a relative speed between the host vehicle and the target vehicle, and a distance between the host vehicle and the target vehicle. ### Claim 3 (depends on 2) The method of claim 2, wherein the conditions for the overtake of the target vehicle are also based at least in part on one or more additional target vehicles in proximity to the host vehicle. ### Claim 4 (depends on 1) The method of claim 1, wherein further controlling the overtake maneuver comprises: continuing the overtake maneuver via the instructions provided by the processor, when it is determined by the processor that the conditions for the overtake of the target vehicle are still valid; and suspending the overtake maneuver via the instructions provided by the processor, when it is determined by the processor that the conditions for the overtake of the target vehicle are no longer valid. ### Claim 5 (depends on 1) The method of claim 1, wherein the determining of whether the conditions for the overtake of the target vehicle are still valid is based at least in part on a comparison of: a pull zone, in which the host vehicle would speed up further to pass in front of the target vehicle; and a push zone, in which the host vehicle would slow down to return to an original lane behind the target vehicle. ### Claim 6 (depends on 5) The method of claim 5, wherein the determining of whether the conditions for the overtake of the target vehicle are still valid is based at least in part on: a pull zone weight, based on a distance of the host vehicle from a rear bumper of the target vehicle; and a push zone weight, based on a distance of the host vehicle from a front bumper of the target vehicle. ### Claim 7 A system comprising: a sensor array comprising one or more sensors of a host vehicle, the sensor array configured to generate vehicle sensor data pertaining to a target vehicle in proximity to the host vehicle; and a processor coupled to the sensor array and configured to at least facilitate: beginning an overtake maneuver for the host vehicle with an initial increase in velocity for the host vehicle when conditions for an overtake of the target vehicle by the host vehicle are initially determined by the processor to be valid; subsequent to the beginning of the overtake maneuver, determining whether the conditions for the overtake of the target vehicle are still valid, based on updated sensor data reflecting variant traffic conditions; and further controlling the overtake maneuver based on the determining as to whether the conditions for the overtake of the target vehicle are still valid, by: calculating, via the processor, a further increase in velocity that would be required to successfully complete the overtake maneuver; and selectively completing the overtake maneuver based on whether the further increase in velocity, in combination with the initial increase in velocity, would exceed a pre-set velocity as selected by a user of the host vehicle by an amount that is less than or equal to a predetermined maximum velocity change threshold that is stored in a memory of the host vehicle. ### Claim 8 (depends on 7) The system of claim 7, wherein the conditions for the overtake of the target vehicle are based at least in part on a speed of the host vehicle, a relative speed between the host vehicle and the target vehicle, and a distance between the host vehicle and the target vehicle. ### Claim 9 (depends on 8) The system of claim 8, wherein the conditions for the overtake of the target vehicle are also based at least in part on one or more additional target vehicles in proximity to the host vehicle. ### Claim 10 (depends on 7) The system of claim 7, wherein the processor is further configured to at least facilitate: continuing the overtake maneuver when it is determined by the processor that the conditions for the overtake of the target vehicle are still valid; and suspending the overtake maneuver when it is determined by the processor that the conditions for the overtake of the target vehicle are no longer valid. ### Claim 11 (depends on 7) The system of claim 7, wherein the processor is further configured to at least facilitate determining whether the conditions for the overtake of the target vehicle are still valid based at least in part on a change in speed of the target vehicle and also based at least in part on whether a required change in speed of the host vehicle to overtake the target vehicle would exceed a predetermined speed threshold. ### Claim 12 (depends on 7) The system of claim 7, wherein the processor is further configured to at least facilitate determining whether the conditions for the overtake of the target vehicle are still valid based at least in part on a comparison of: a pull zone, in which the host vehicle would speed up further to pass in front of the target vehicle; and a push zone, in which the host vehicle would slow down to return to an original lane behind the target vehicle. ### Claim 13 (depends on 12) The system of claim 12, wherein the processor is further configured to at least facilitate determining whether the conditions for the overtake of the target vehicle are still valid based at least in part on: a pull zone weight, based on a distance of the host vehicle from a rear bumper of the target vehicle; and a push zone weight, based on a distance of the host vehicle from a front bumper of the target vehicle. ### Claim 14 A host vehicle comprising: a body; a drive system configured to generate movement of the body; a sensor array comprising one or more sensors of the host vehicle, the sensor array configured to generate vehicle sensor data pertaining to a target vehicle in proximity to the host vehicle; and a processor coupled to the sensor array and configured to at least facilitate: beginning an overtake maneuver for the host vehicle, via instructions provided to the drive system, with an initial increase in velocity for the host vehicle, when conditions for an overtake of the target vehicle by the host vehicle are initially determined by the processor to be valid; subsequent to the beginning of the overtake maneuver, determining via the processor whether the conditions for the overtake of the target vehicle are still valid, based on updated sensor data reflecting variant traffic conditions; and further controlling the overtake maneuver based on the determining as to whether the conditions for the overtake of the target vehicle are still valid, by: calculating, via the processor, a further increase in velocity that would be required to successfully complete the overtake maneuver; and selectively completing the overtake maneuver based on whether the further increase in velocity, in combination with the initial increase in velocity, would exceed a pre-set velocity selected by a user of the host vehicle by an amount that is less than or equal to a predetermined maximum velocity change threshold that is stored in a memory of the host vehicle. ### Claim 15 (depends on 14) The host vehicle of claim 14, wherein the conditions for the overtake of the target vehicle are based at least in part on a speed of the host vehicle, a relative speed between the host vehicle and the target vehicle, and a distance between the host vehicle and the target vehicle. ### Claim 16 (depends on 14) The host vehicle of claim 14, wherein the processor is further configured to at least facilitate: continuing the overtake maneuver when it is determined by the processor that the conditions for the overtake of the target vehicle are still valid; and suspending the overtake maneuver when it is determined by the processor that the conditions for the overtake of the target vehicle are no longer valid. ### Claim 17 (depends on 14) The host vehicle of claim 14, wherein the processor is further configured to at least facilitate determining whether the conditions for the overtake of the target vehicle are still valid based at least in part on a change in speed of the target vehicle and also based at least in part on whether a required change in speed of the host vehicle to overtake the target vehicle would exceed a predetermined speed threshold. ### Claim 18 (depends on 14) The host vehicle of claim 14, wherein the processor is further configured to at least facilitate determining whether the conditions for the overtake of the target vehicle are still valid based at least in part on a comparison of: a pull zone, in which the host vehicle would speed up further to pass in front of the target vehicle; and a push zone, in which the host vehicle would slow down to return to an original lane behind the target vehicle. ### Claim 19 (depends on 18) The host vehicle of claim 18, wherein the processor is further configured to at least facilitate determining whether the conditions for the overtake of the target vehicle are still valid based at least in part on: a pull zone weight, based on a distance of the host vehicle from a rear bumper of the target vehicle; and a push zone weight, based on a distance of the host vehicle from a front bumper of the target vehicle. ### Claim 20 (depends on 1) The method of claim 1, further comprising: calculating, via the processor, a sum of the initial increase in velocity and the further increase in velocity; and calculating, via the processor, a difference between the sum and the pre-set velocity selected by a user of the host vehicle as part of a cruise control feature of the host vehicle; wherein selectively completing the overtake maneuver comprises: completing the overtake maneuver, in conjunction with the instructions provided by the processor, when the difference is less than or equal to the predetermined maximum velocity change threshold that is stored in the memory of the host vehicle; and aborting the overtake maneuver, in conjunction with the instructions provided by the processor, when the difference is greater than the predetermined maximum velocity change threshold that is stored in the memory of the vehicle.