Adaptive cruise control system and method

A system comprising:

• a memory;
• at least one processor of a host vehicle, where the at least one processor is configured to execute instructions stored in the memory and to:
• determine that a passing vehicle is entering a trajectory in which the host vehicle is travelling based on a longitudinal speed, a longitudinal acceleration, a lateral speed, and a lateral acceleration of the passing vehicle;
• after determining that the passing vehicle is entering the trajectory in which the host vehicle is travelling, determine to maintain a follow distance of an adaptive cruise control system of the host vehicle to at least one target vehicle in the trajectory in which the host vehicle is traveling prior to the passing vehicle entering the trajectory;
• and
• maintain the follow distance to the at least one target vehicle while the passing vehicle passes through the trajectory in which the host vehicle and the at least one target vehicle are traveling;
• wherein to determine to maintain a follow distance of the adaptive cruise control system of the host vehicle to at least one target vehicle in the trajectory in which the host vehicle is traveling prior to the passing vehicle entering the trajectory, the at least one processor is configured to:
• determine that as the passing vehicle passes through the trajectory of the host vehicle, the host vehicle traveling at the current follow distance will be able to maintain a predefined distance to both the passing vehicle and the at least one target vehicle in the trajectory of the host vehicle prior to the passing vehicle entering the trajectory of the host vehicle.

A method comprising:

• determining, with at least one processor of a host vehicle, that a passing vehicle is entering a trajectory in which the host vehicle is travelling based on a longitudinal speed, a longitudinal acceleration, a lateral speed, and a lateral acceleration of the passing vehicle;
• after determining that the passing vehicle is entering the trajectory in which the host vehicle is travelling, determining, with the at least one processor, to maintain a follow distance of an adaptive cruise control system of the host vehicle to at least one target vehicle in the trajectory of the host vehicle in which the host vehicle is traveling prior to the passing vehicle entering the trajectory;
• and
• maintaining, with the at least one processor, the follow distance of the adaptive cruise control of the host vehicle to the at least one target vehicle while the passing vehicle passes through the trajectory in which the host vehicle and the target vehicle are traveling;
• wherein determining that the passing vehicle is passing through the trajectory in which the host vehicle is travelling comprises:
• determining, with the at least one processor, that a lateral speed of the passing vehicle is not decreasing at any time while passing through the trajectory in which the host vehicle is travelling.

A method comprising:

• determining, with at least one processor of a host vehicle, that a passing vehicle is entering a trajectory in which the host vehicle is travelling based on a longitudinal speed, a longitudinal acceleration, a lateral speed, and a lateral acceleration of the passing vehicle;
• after determining that the passing vehicle is entering the trajectory in which the host vehicle is travelling, determining, with the at least one processor, to maintain a follow distance of an adaptive cruise control system of the host vehicle to at least one target vehicle in the trajectory of the host vehicle in which the host vehicle is traveling prior to the passing vehicle entering the trajectory;
• and
• maintaining, with the at least one processor, the follow distance of the adaptive cruise control of the host vehicle to the at least one target vehicle while the passing vehicle passes through the trajectory in which the host vehicle and the target vehicle are traveling;
• wherein determining to maintain a follow distance of the adaptive cruise control system of the host vehicle to at least one target vehicle in the trajectory in which the host vehicle is traveling prior to the passing vehicle entering the trajectory comprises:
• determining, with the at least one processor, that as the passing vehicle passes through the trajectory of the host vehicle, the host vehicle traveling at the current follow distance will be able to maintain a predefined distance to both the passing vehicle and the at least one target vehicle in the trajectory of the host vehicle prior to the passing vehicle entering the trajectory of the host vehicle.