Longitudinal response control of host during aggressive turning maneuver of a leading target

An adaptive cruise control (ACC) system for a host vehicle traveling in a lane, comprising:

• a sensor suite connected to the host vehicle;
• and
• an electronic control unit (ECU) in communication with the sensor suite, the ECU including a processor and a computer storage medium on which is record instructions, wherein execution of the instructions by the processor causes the ECU to:
• sense a current lateral position of a target vehicle relative to the host vehicle;
• sense a current lateral velocity of the target vehicle relative to the lane;
• determine predicted lateral positions of the target vehicle using the current lateral position of the target vehicle relative to the host vehicle and the current lateral velocity of the target vehicle relative to the lane, the predicted lateral positions including a predicted lateral position of the target vehicle relative to the host vehicle and a predicted lateral position of the target vehicle relative to the lane;
• and
• in response to the predicted lateral positions of the target vehicle being reliable relative to a calibrated standard distance threshold between the host vehicle and the target vehicle, the host vehicle being laterally stable in the lane relative to performance parameters of the host vehicle, and the host vehicle still following the target vehicle:
• detect when the target vehicle is decelerating and turning out of a path of the host vehicle at rates exceeding above a corresponding threshold rate, while the host vehicle is being controlled in accordance with a default closest-in-path (CIP)-based ACC strategy;
• and
• temporarily disable the default CIP-based ACC strategy and thereafter controlling a dynamic state of the host vehicle via the ACC system as if the target vehicle is no longer located in the path of the host vehicle, thus causing the host vehicle to transition to positive acceleration.

A host vehicle comprising:

• a vehicle body;
• a set of road wheels connected to the vehicle body;
• a set of torque actuators operable for controlling a dynamic state of the host vehicle;
• and
• an adaptive cruise control (ACC) system comprising:
• a sensor suite connected to the vehicle body;
• and
• an electronic control unit (ECU) in communication with the sensor suite, the ECU including a processor and a computer storage medium on which is record instructions, wherein execution of the instructions by the processor causes the ECU to:
• sense a current lateral position of a target vehicle relative to the host vehicle;
• sense a current lateral velocity of the target vehicle relative to a lane;
• determine predicted lateral positions of the target vehicle using the current lateral position of the target vehicle relative to the host vehicle and the current lateral velocity of the target vehicle relative to the lane, the predicted lateral positions including a predicted lateral position of the target vehicle relative to the host vehicle and a predicted lateral position of the target vehicle relative to the lane;
• and
• in response to the predicted lateral positions of the target vehicle being reliable relative to a calibrated standard distance threshold between the host vehicle and the target vehicle, the host vehicle being laterally stable in the lane, and the host vehicle still following the target vehicle:
• detect when the target vehicle is decelerating and turning out of a path of the host vehicle at rates exceeding above a corresponding threshold rate, while the host vehicle is being controlled in accordance with a default closest-in-path (CIP)-based ACC strategy;
• and
• temporarily disable the default CIP-based ACC strategy and thereafter control a dynamic state of the host vehicle as if the target vehicle is no longer located in the path of the host vehicle, thus causing the host vehicle to transition to positive acceleration.