System and method to execute automatic lane changes into stop-and-go traffic lanes

A method for operating a host vehicle to execute automatic lane changes into and out of stop-and-go traffic lanes, the method comprising:

• detecting static and dynamic state information about a host vehicle with one or more sensors equipped to the host vehicle;
• altering static and dynamic states of the host vehicle with one or more actuators equipped to the host vehicle;
• executing, by a processor of a controller of the host vehicle, program code portions stored in memory of the controller, the controller further including input/output (I/O) ports in communication with the one or more sensors and the one or more actuators, the program code portions including an automatic lane change (ALC) application comprising control logic for:
• calculating a velocity of other vehicles in an alternate lane, and calculating a size of openings between the other vehicles;
• determining that a difference between a host vehicle velocity and the velocity of the other vehicles is greater than a predetermined host vehicle deceleration limit;
• determining that openings between the other vehicles are within a predetermined range and of a sufficiently large size for the host vehicle to fit;
• commanding one or more of the actuators of the host vehicle to perform an open loop acceleration of the host vehicle;
• and
• selectively engaging one of a closed loop autonomous control of the host vehicle or escalating control of the host vehicle to a human host vehicle operator, wherein the ALC application automatically accelerates the host vehicle according to a calculated host vehicle speed profile and causes the host vehicle to autonomously execute, via actuation of steering actuators and one or more of:
• powertrain actuators and braking actuators, a lane change from a current host vehicle lane to an alternate lane, wherein the current host vehicle lane has a substantially different velocity than a target alternate vehicle lane.

A method for operating a host vehicle to execute automatic lane changes into and out of stop-and-go traffic lanes, the method comprising:

• detecting static and dynamic state information about a host vehicle with one or more sensors equipped to the host vehicle;
• altering static and dynamic states of the host vehicle with one or more actuators equipped to the host vehicle;
• executing, by a processor of a controller of the host vehicle, program code portions stored in memory of the controller, the controller further including input/output (I/O) ports in communication with the one or more sensors and the one or more actuators, the program code portions including an automatic lane change (ALC) application comprising control logic for:
• calculating a velocity of other vehicles in an alternate lane, and calculating a size of openings between the other vehicles, including:
• calculating the velocity of the other vehicles in the alternate lane based according to a moving average of velocities of other vehicles in a target alternate vehicle lane, wherein the moving average is stored in a buffer having a plurality of samples each lasting for a predetermined quantity of time;
• wherein the buffer extends for approximately forty (40) seconds, and a total of five (5) samples are included in each buffer;
• and wherein the samples each extend for approximately eight (8) seconds, wherein a calculated host vehicle speed profile is defined as a sliding average of eight buffers, totaling approximately three-hundred-twenty (320) seconds;
• and
• calculating the host vehicle speed profile according to:
• V
• dl
• =
• ∫
• 0
• K
• t
• ∑
• 0
• n
• Vx
• t
• n
• K
• t
• Eq
• .
• 1
• where Vdl is a velocity for a desired target alternate vehicle lane;
• Vxt is a longitudinal velocity of each individual object/or other vehicle in the desired target alternate vehicle lane such that ‘x’ refers to a longitudinal direction, and ‘t’ refers to each individual object or other vehicle;
• n is a quantity of objects in the desired target alternate vehicle lane;
• and Kt is a sample time window, where sample time window Kt is a hard-coded value calibrated for a variety of host vehicle operating conditions;
• determining that a difference between a host vehicle velocity and the velocity of the other vehicles is greater than a predetermined host vehicle deceleration limit, including:
• upon determining that a difference between a host vehicle velocity and the velocity of the other vehicles in the desired target alternate vehicle lane is greater than a predetermined host vehicle deceleration limit (K_v_DclLim), determining that openings between the other vehicles are within a predetermined range and of a sufficiently large size for the host vehicle to fit;
• and
• upon determining that the difference between a host vehicle velocity and the velocity of the other vehicles in the desired target alternate vehicle lane is less than or equal to the predetermined host vehicle deceleration limit (K_v_DclLim);
• determining that a difference between the host vehicle velocity and the velocity of other vehicles in the desired target alternate vehicle lane is greater than a predetermined host vehicle acceleration limit (K_v_AclLim);
• and
• upon determining that the difference between the host vehicle velocity and the velocity of other vehicles in the desired target alternate vehicle lane is greater than the predetermined host vehicle acceleration limit (K_v_AclLim), determining that openings between the other vehicles are within a predetermined range and of a sufficiently large size for the host vehicle to fit;
• and
• upon determining that the difference between the host vehicle velocity and the velocity of the other vehicles in the desired target alternate vehicle lane is less than or equal to the predetermined host vehicle acceleration limit (K_v_AclLim), ending ALC application control of the host vehicle;
• determining that openings between the other vehicles are within a predetermined range and of a sufficiently large size for the host vehicle to fit, including:
• determining that openings between the other vehicles satisfy predefined maneuver limits including:
• a current host vehicle velocity (Vx), a velocity of other vehicles (V_dl) in the desired target alternate vehicle lane;
• a longitudinal length of an opening between other vehicles;
• the host vehicle deceleration limit (K_v_DclLim) and the host vehicle acceleration limit (K_v_AclLim);
• predefined mechanical and/or software implemented ADAS-based actuator actuation limits;
• and
• wherein an opening that is within the predetermined range is an opening within an area detectable by host vehicle sensors, and on a currently planned autonomously navigable driving route;
• commanding one or more of the actuators of the host vehicle to perform an open loop acceleration of the host vehicle, including:
• selectively engaging open loop control of the one or more actuators of the host vehicle to engage in an open loop acceleration or deceleration of the host vehicle until either:
• a predetermined time limit is exceeded, as defined by:
• utilizing a set of calibratable values to determine how long the host vehicle is operated in open-loop deceleration or open-loop acceleration without initiating a lane change from a current host vehicle lane into a target alternate vehicle lane, wherein the calibratable values further comprise:
• a short-term time limit and a long-term time limit, the short-term time limit having a value of up to twenty seconds, and the long-term time limit having a value of up to two minutes, each of the short-term and long-term time limits is based on global positioning system (GPS) information, high-definition (HD) map information, and host vehicle indicators;
• or
• a difference between the host vehicle velocity and the velocity of the other vehicles is less than or equal to the predetermined host vehicle acceleration limit (K_v_AclLim) or the predetermined host vehicle deceleration limit (K_v_DclLim);
• and
• assessing an urgency of a lane change maneuver based on a plurality of factors comprising:
• a current host vehicle velocity, a distance or calculated quantity of time until the host vehicle will arrive at a route event, wherein the route event comprises one or more of:
• a lane split, a traffic backup, a traffic jam, a turn, a lane end, and a lane merge;
• upon determining that the urgency of the lane change maneuver is low, executing control logic of the ALC application for calculating a quantity of time to a critical decision point, including:
• determining whether the quantity of time to the critical decision point is less than a predetermined minimum threshold time based in part upon:
• host vehicle speed, and a speed of other vehicles in target alternate vehicle lanes;
• and
• upon determining that the quantity of time to the critical decision point is less than the predetermined minimum threshold time, creating a speed profile with a highest possible speed adjustment and alerting the vehicle operator to take over control of the host vehicle for lane change execution;
• and
• upon determining that the urgency of the lane change maneuver is not low, creating a host vehicle speed profile with a lowest possible speed adjustment and continuing to autonomously execute the lane change maneuver;
• and
• wherein upon determining that the quantity of time to the critical decision point is greater than or equal to the predetermined minimum threshold time, executing control logic for:
• calculating a host vehicle speed adjustment based on a critical distance and time;
• creating a speed profile based on the calculated host vehicle speed adjustment;
• and
• continuing to execute the automated lane change by:
• selectively engaging one of a closed loop autonomous control of the host vehicle or escalating control of the host vehicle to a human host vehicle operator, wherein the ALC application automatically accelerates the host vehicle according to the host vehicle speed profile and causes the host vehicle to autonomously execute, via actuation of steering actuators and one or more of:
• powertrain actuators and braking actuators, a lane change from a current host vehicle lane to an alternate lane, wherein the current host vehicle lane has a substantially different velocity than the target alternate vehicle lane.