Efficient data flow algorithms for autonomous lane changing, passing and overtaking behaviors

A method for making a lane changing maneuver in an autonomously driven vehicle, said method comprising:

• providing a navigation controller on the vehicle that provides a planned route for the vehicle to travel;
• providing a vehicle controller on the vehicle that receives route information from the navigation controller and provides steering, braking and throttle control for the vehicle to follow the route;
• initiating a lane-change maneuver to cause the vehicle to travel from a current roadway lane to an adjacent roadway lane;
• and
• providing route information from the navigation controller in response to initiating the lane-change maneuver that identifies a path in the adjacent lane for the vehicle controller to steer the vehicle to make the lane-change maneuver, wherein providing route information includes providing a route segment of the identified path in the adjacent lane and providing a lane-change zone that identifies an area in which the vehicle controller must steer the vehicle to make the lane-change maneuver.

A system for making a lane changing maneuver in an autonomously driven vehicle, said system comprising:

• means for providing a navigation controller on the vehicle that is programmed to provides a planned route for the vehicle to travel;
• means for providing a vehicle controller on the vehicle that is programmed to receives route information from the navigation controller and to provides steering, braking and throttle control for the vehicle to follow the route;
• means for initiating a lane-change maneuver to cause the vehicle to travel from a current roadway lane to an adjacent roadway lane;
• and
• means for providing route information from the navigation controller in response to initiating the lane-change maneuver that identifies a path in the adjacent lane for the vehicle controller to steer the vehicle to make the lane-change maneuver, wherein the means for providing route information also provides a route segment of the identified path in the adjacent lane and providing a lane-change zone that identifies an area in which the vehicle controller must steer the vehicle to make the lane-change maneuver.