Semi-truck detection and avoidance

A host vehicle comprising:

• a processing system, the processing system comprising:
• a memory comprising computer readable instructions;
• and
• a processing device for executing the computer readable instructions, the computer readable instructions controlling the processing device to perform operations for limiting vehicle acceleration during turns, the operations comprising:
• detecting a semi-truck in a lane adjacent to a host lane occupied by the host vehicle;
• analyzing behavior of the semi-truck to determine a risk level associated with the semi-truck entering the host lane occupied by the host vehicle;
• determining whether the risk level associated with the semi-truck entering the host lane occupied by the host vehicle exceeds a threshold, wherein the risk level is determined at least in part on a situation awareness metric concerning a vehicle state of the host vehicle with respect to the semi-truck, wherein the situation awareness metric is a function of a velocity of the host vehicle, a difference in velocity between the velocity of the host vehicle and a velocity of the semi-truck, a lateral distance between the host vehicle and the semi-truck, a longitudinal distance between the host vehicle and the semi-truck, and a relative acceleration between the host vehicle and the semi-truck, wherein the risk level is determined at least in part on a situation awareness metric concerning a vehicle state of the host vehicle with respect to environmental conditions, wherein the situation awareness metric concerning the vehicle state of the host vehicle with respect to the environmental conditions is a function of a curvature of a road upon which the host vehicle and the semi-truck are operating and a difference in velocity between the velocity of the host vehicle and a velocity of another vehicle that is behind the host vehicle;
• and
• responsive to determining that the risk level associated with the semi-truck entering the host lane occupied by the host vehicle exceeds the threshold, implementing a corrective action for the host vehicle based on the risk level associated with the semi-truck entering the host lane occupied by the host vehicle;
• and
• responsive to determining that the risk level associated with the semi-truck entering the host lane occupied by the host vehicle does not exceed the threshold, signaling to the semi-truck that merger is acceptable.

A non-transitory computer readable storage medium comprising a computer program product having program instructions embodied therewith, the program instructions executable by at least one processor to cause the at least one processor to perform operations comprising:

• detecting a semi-truck in a lane adjacent to a host lane occupied by a host vehicle;
• analyzing behavior of the semi-truck to determine a risk level associated with the semi-truck entering the host lane occupied by the host vehicle;
• and
• implementing a corrective action for the host vehicle based on the risk level associated with the semi-truck entering the host lane occupied by the host vehicle,
• wherein the risk level is determined at least in part on a first situation awareness metric and a second situation awareness metric, wherein the first situation awareness metric is a function of a velocity of the host vehicle, a difference in velocity between the velocity of the host vehicle and a velocity of the semi-truck, a lateral distance between the host vehicle and the semi-truck, a longitudinal distance between the host vehicle and the semi-truck, and a relative acceleration between the host vehicle and the semi-truck, and wherein the second situation awareness metric is a function of a curvature of a road upon which the host vehicle and the semi-truck are operating and a difference in velocity between the velocity of the host vehicle and a velocity of another vehicle that is behind the host vehicle.