# US 12,600,359 B2 · Target object selection for a longitudinal guidance system and electronic vehicle guidance system of a motor vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,600,359 B2 - Document ID: US12600359B2 - Status: Granted - Kind: B2 - Application number: 18/658,535 - Filed: 2024-05-08 - Published: 2024-11-14 - Granted: 2026-04-14 - Earliest claimed: 2023-05-12 - Assignees: Volkswagen Aktiengesellschaft - Applicants: Volkswagen Aktiengesellschaft - Inventors: Lukas Ackert; Jannis Hoppe - Web page: https://patentgrep.com/patent/US12600359B2 ## CPC - B60W 30/16: Control of distance between vehicles, e.g. keeping a distance to preceding vehicle - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 10/04: including control of propulsion units - B60W 10/18: including control of braking systems - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - B60W 30/095: Predicting travel path or likelihood of collision - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 2510/202: Steering torque - B60W 2540/18: Steering angle - B60W 2540/215: Selection or confirmation of options - B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction - B60W 2552/30: Road curve radius - B60W 2554/40: Dynamic objects, e.g. animals, windblown objects - B60W 2556/00: Input parameters relating to data - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - 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 Technologies and techniques for selecting a target object for a longitudinal guidance system of a motor vehicle. A method includes adapting a driving parameter of the motor vehicle based on the target object. Initially, the motor vehicle is operated along a designated driving lane, adjusting the driving parameter in response to a first target object traveling ahead in the same lane. Additionally, a semi-automated lane change is initiated, transitioning the vehicle from the initial driving lane to an adjacent target driving lane and shifting focus from the first to a second target object in the new lane. If this lane change process is interrupted or aborted, the method assesses the likelihood that the vehicle will revert to the original driving lane. Depending on this likelihood, the control system either maintains the second target object, reselects the first target object, or discontinues target object selection for the continuation of the journey. ## Claims ### Claim 1 A method for selecting a target object for a longitudinal guidance system of a motor vehicle, comprising: adapting at least one driving parameter of the motor vehicle based on a first target object while the motor vehicle is operated along a first driving lane; initiating, by a transverse guidance system of the motor vehicle, a lane change from the first driving lane to an adjacent second driving lane; transitioning from the first target object to a second target object based on the lane change; and determining, by an assessment device, a likelihood that the motor vehicle will return to the first driving lane if the lane change is interrupted or aborted by the transverse guidance system, wherein determining the likelihood comprises evaluating at least one operating parameter associated with the interruption or abortion of the lane change, and, based on the determined likelihood: maintaining the second target object, selecting again the first target object, or not selecting any target object. ### Claim 2 (depends on 1) The method of claim 1, wherein determining the likelihood is based on any one or more of the following, taken alone or in combination: a current status of the longitudinal guidance system of the motor vehicle during the interruption or abortion of the lane change; a current status of the transverse guidance system of the motor vehicle during the interruption or abortion of the lane change; a current roadway curvature along at least one of the first driving lane and the second driving lane; a current roadway cross slope along at least one of the first driving lane and the second driving lane; a current driver steering torque; and/or a route navigation provided for the motor vehicle. ### Claim 3 (depends on 2) The method of claim 2, wherein the current status of the transverse guidance system comprises information regarding a steering torque presently requested by the transverse guidance system. ### Claim 4 (depends on 1) The method of claim 1, wherein determining the likelihood is based on a distance and/or a change in a distance between at least one tire of the motor vehicle and a separating line between the first driving lane and the second driving lane during the interruption or abortion of the lane change process. ### Claim 5 (depends on 4) The method of claim 4, wherein the likelihood is determined based on whether, and to what extent, the motor vehicle has at least partly crossed the separating line during the interruption or abortion of the lane change process. ### Claim 6 (depends on 1) The method of claim 1, further comprising displaying a prompt on a user interface of the motor vehicle that requests the driver to confirm or adjust the selected target object based on the likelihood determination. ### Claim 7 (depends on 1) The method of claim 1, wherein determining the likelihood further includes using data from an inertial measurement unit (IMU) of the motor vehicle or a digital map to assess roadway conditions influencing a trajectory of the vehicle. ### Claim 8 An electronic vehicle guidance system for operating a motor vehicle in at least a semi-automated manner, the system comprising: a longitudinal guidance system configured to adapt at least one driving parameter of the motor vehicle based on a target object; a transverse guidance system configured to initiate a lane change from a first driving lane to a second driving lane; an assessment device configured to: determine a likelihood that the motor vehicle will return to the first driving lane upon interruption or abortion of the lane change by the transverse guidance system, wherein determining the likelihood comprises evaluating at least one operating parameter associated with the interruption or abortion of the lane change; and control the longitudinal guidance system to maintain, select again, or cease selecting a target object based on the determined likelihood. ### Claim 9 (depends on 8) The system of claim 8, wherein the assessment device is further configured to determine the likelihood based on any one or more of the following, taken alone or in combination: a current status of the longitudinal guidance system during the interruption or abortion of the lane change; a current status of the transverse guidance system during the interruption or abortion of the lane change; a current roadway curvature along at least one of the first driving lane and the second driving lane; a current roadway cross slope along at least one of the first driving lane and the second driving lane; a current driver steering torque; and a route navigation provided for the motor vehicle. ### Claim 10 (depends on 9) The system of claim 9, wherein the assessment device is further configured to determine the likelihood based on information regarding a steering torque presently requested by the transverse guidance system. ### Claim 11 (depends on 8) The system of claim 8, wherein the assessment device is further configured to determine the likelihood based on a distance and/or a change in the distance between at least one tire of the motor vehicle and a separating line between the first driving lane and the second driving lane during the interruption or abortion of the lane change process. ### Claim 12 (depends on 11) The system of claim 11, wherein the assessment device is further configured to determine the likelihood based on whether, and to what extent, the motor vehicle has at least partly crossed the separating line during the interruption or abortion of the lane change process. ### Claim 13 (depends on 8) The system of claim 8, further comprising a user interface configured to provide a request to a driver of the motor vehicle to confirm the selected target object. ### Claim 14 (depends on 8) The system of claim 8, wherein the assessment device is further configured to use data from an inertial measurement unit (IMU) of the motor vehicle or a digital map to assess roadway conditions influencing the vehicle's trajectory. ### Claim 15 A method for operating a motor vehicle in an at least semi-automated manner, comprising: adapting at least one driving parameter of the motor vehicle based on a first target object while the motor vehicle is operated along a first driving lane; initiating, by a transverse guidance system of the motor vehicle, a lane change from the first driving lane to an adjacent second driving lane; transitioning from the first target object to a second target object based on the lane change; determining, by an assessment device, a likelihood that the motor vehicle will return to the first driving lane if the lane change is interrupted or aborted by the transverse guidance system, wherein determining the likelihood comprises evaluating at least one operating parameter associated with the interruption or abortion of the lane change; based on the determined likelihood, controlling the longitudinal guidance system to: maintain the second target object, select again the first target object, or not select any target object; and generating a command for adapting the at least one driving parameter of the motor vehicle to the selected target object based on the target object selection. ### Claim 16 (depends on 15) The method of claim 15, wherein determining the likelihood is based on any one or more of the following, taken alone or in combination: a current status of the longitudinal guidance system of the motor vehicle during the interruption or abortion of the lane change; a current status of the transverse guidance system of the motor vehicle during the interruption or abortion of the lane change; a current roadway curvature along at least one of the first driving lane and the second driving lane; a current roadway cross slope along at least one of the first driving lane and the second driving lane; a current driver steering torque; and a route navigation provided for the motor vehicle. ### Claim 17 (depends on 16) The method of claim 16, wherein the current status of the transverse guidance system includes information regarding a steering torque presently requested by the transverse guidance system. ### Claim 18 (depends on 15) The method of claim 15, wherein determining the likelihood is based on a distance and/or a change in a distance between at least one tire of the motor vehicle and a separating line between the first driving lane and the second driving lane during the interruption or abortion of the lane change process. ### Claim 19 (depends on 18) The method of claim 18, wherein the likelihood is determined based on whether, and to what extent, the motor vehicle has at least partly crossed the separating line during the interruption or abortion of the lane change process. ### Claim 20 (depends on 15) The method of claim 15, further comprising providing a request to a driver of the motor vehicle via a user interface of the motor vehicle to confirm the selected target object.