Target vehicle position prediction for assisted lane change

A method comprising:

• receiving sensor data associated with a set of target vehicles, wherein the sensor data indicates positions of the set of target vehicles with respect to a host vehicle;
• for each respective target vehicle of a subset of the set of target vehicles, determining a prediction corresponding to the respective target vehicle, wherein:
• the prediction is based on a set of criteria,
• the prediction includes a plurality of prediction segments corresponding to future time intervals,
• the prediction indicates a position of the respective target vehicle at each of the plurality of prediction segments,
• a first prediction segment of the plurality of prediction segments is based on the sensor data,
• the first prediction segment of the plurality of prediction segments includes:
• based on a first outcome of the set of criteria, maintaining an acceleration associated with the respective target vehicle,
• based on a second outcome of the set of criteria, adjusting the acceleration associated with the respective target vehicle, and
• based on a third outcome of the set of criteria, executing a portion of a lane change maneuver associated with the respective target vehicle,
• a second prediction segment of the plurality of prediction segments is based on the first prediction segment, and
• the set of criteria includes:
• a criterion that is met when a lead vehicle exists ahead of the respective target vehicle,
• a criterion that is met when a speed of the respective target vehicle exceeds a speed of the lead vehicle, and
• a criterion that is met when an acceleration of the respective target vehicle is outside of a threshold acceleration range;
• and
• determining a host vehicle lane change location based on the prediction corresponding to the respective target vehicle.

A non-transitory computer-readable storage medium storing processor-executable instructions, the instructions comprising:

• receiving sensor data associated with a set of target vehicles, wherein the sensor data indicates positions of the set of target vehicles with respect to a host vehicle;
• for each respective target vehicle of a subset of the set of target vehicles, determining a prediction corresponding to the respective target vehicle, wherein:
• the prediction is based on a set of criteria,
• the prediction includes a plurality of prediction segments corresponding to future time intervals,
• the prediction indicates a position of the respective target vehicle at each of the plurality of prediction segments,
• a first prediction segment of the plurality of prediction segments is based on the sensor data,
• the first prediction segment of the plurality of prediction segments includes:
• based on a first outcome of the set of criteria, maintaining an acceleration associated with the respective target vehicle,
• based on a second outcome of the set of criteria, adjusting the acceleration associated with the respective target vehicle, and
• based on a third outcome of the set of criteria, executing a portion of a lane change maneuver associated with the respective target vehicle,
• a second prediction segment of the plurality of prediction segments is based on the first prediction segment;
• and
• the set of criteria includes:
• a criterion that is met when a lead vehicle exists ahead of the respective target vehicle,
• a criterion that is met when a speed of the respective target vehicle exceeds a speed of the lead vehicle, and
• a criterion that is met when an acceleration of the respective target vehicle is outside of a threshold acceleration range;
• and
• determining a host vehicle lane change location based on the prediction corresponding to the respective target vehicle.