# US 2019/0172355 A1 · Control system and control method for driving a motor vehicle and for avoiding a collision with another motor vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0172355 A1 - Document ID: US20190172355A1 - Status: Published application - Kind: A1 - Application number: 16/197,423 - Filed: 2018-11-21 - Published: 2019-06-06 - Earliest claimed: 2017-12-01 - Assignees: Lucas Automotive GmbH - Applicants: Lucas Automotive GmbH - Inventors: Nico Stock; Tim Schwickart - Web page: https://patentgrep.com/patent/US20190172355A1 ## CPC - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 30/14: {Adaptive} cruise control - B60W 30/162: {Speed limiting therefor} - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 60/00276: {for two or more other traffic participants} - G01S 13/931: of land vehicles - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - B60W 2050/146: {Display means} - B60W 2520/10: Longitudinal speed - B60W 2540/20: Direction indicator values - B60W 2540/225: Direction of gaze - B60W 2554/00: Input parameters relating to objects - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2554/801: Lateral distance - B60W 2554/802: Longitudinal distance - B60W 2554/804: Relative longitudinal speed - B60W 2754/30: Longitudinal distance - G01S 2013/9323: {Alternative operation using light waves} - G01S 2013/9324: {Alternative operation using ultrasonic waves} - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract A system and a method for use in an own motor vehicle to identify, on the basis of environmental data, motor vehicles driving in front, next to and/or behind an own motor vehicle and preferably objects standing in front, to provide the environmental data representing an area in front of, next to and/or behind the own motor vehicle, and which comprises: detecting another motor vehicle participating in traffic in front of the own motor vehicle as reference vehicle relative to the own motor vehicle both on a lane on which the own motor vehicle is also travelling and on a neighbouring lane with slower traffic than the own motor vehicle, starting out from a momentary location, determining the distance and the relative speed with respect to a vehicle driving in front in the slower neighbouring lane, receiving a signal of a driver's desire for a lane change or a request signal for a lane change or for a merging manoeuvre, determining whether a lane change is possible within predetermined limits from the distance and the relative speed with respect to the vehicle driving in front in the slower neighbouring lane, and if this is given, effecting a reduction in the driving speed of the own motor vehicle by a braking and/or engine management intervention, in order to enable the driver of the own motor vehicle to change lane to the slower lane. ## Claims ### Claim 1 A control system which is adapted for use in an own motor vehicle (ego) and intended to identify motor vehicles driving in front, next to and/or behind and preferably objects standing in front, on the basis of environmental data obtained from at least one environmental sensor associated with the own motor vehicle (ego), wherein the at least one environmental sensor is adapted to provide an electronic controller of the control system with the environmental data representing an area in front of, next to and/or behind the own motor vehicle, and wherein the control system is at least adapted and intended to detect from the environmental data another motor vehicle (alter1, alter2, alter3) participating in traffic in front of the own motor vehicle (ego) as reference vehicle relative to the own motor vehicle (ego) by means of the at least one environmental sensor both on a lane on which the own motor vehicle (ego) is also travelling and on a neighbouring lane with slower traffic than the own motor vehicle (ego), wherein the control system is at least adapted and intended to determine, starting out from a momentary location, the distance and the relative speed with respect to a vehicle driving in front in the slower neighbouring lane, receive a signal from a man-machine interface in the own motor vehicle (ego) of a driver's desire for a lane change or a request signal for a lane change or for a merging manoeuvre from the route output of a navigation system, determine whether a lane change is possible within predetermined limits from the distance and the relative speed with respect to the vehicle driving in front in the slower neighbouring lane, and if this is given, effect a reduction in the driving speed of the own motor vehicle by a braking and/or engine management intervention, in order to enable the driver of the own motor vehicle (ego) to change lane to the slower lane. ### Claim 2 (depends on 1) The control system according to claim 1, in which the man-machine interface in the own motor vehicle (ego) evaluates an indicator switch or an eyelid/pupil recognition, in order to recognise the driver's desire to change lane. ### Claim 3 (depends on 1) The control system according to claim 1, in which the predetermined limits are (i) a maximal deceleration of the own motor vehicle (ego), (ii) a minimal distance of the own motor vehicle (ego) to the vehicle driving in front in the slower lane, and/or (iii) a minimal distance between the vehicle driving in front and a vehicle following this in the slower lane. ### Claim 4 (depends on 1) The control system according to claim 1, which is adapted and intended to recognise via other sensors in the own motor vehicle (ego) the actual initiation of the lane change to the slower lane by means of additional sensor information (such as, for example, steering angle, yaw rate, angle to the lane, lateral position with respect to the vehicle driving in front). ### Claim 5 (depends on 4) The control system according to claim 4, which is adapted and intended to effect the reduction in the driving speed of the own motor vehicle (ego) by a braking and/or engine management intervention to the extent that a predetermined distance to the vehicle driving in front on the slower lane is safely set. ### Claim 6 (depends on 4) The control system according to claim 4, which is adapted and intended to select, according to the situation, optionally the vehicle driving in front in the own or the neighbouring lane as reference vehicle. ### Claim 7 (depends on 1) The control system according to claim 1, which is adapted and intended to display the reference vehicle in the own or in the neighbouring lane to the driver of the own motor vehicle (ego) by means of a graphical, optical man-machine interface of the own motor vehicle (ego). ### Claim 8 A method for use in an own motor vehicle to identify, based on environmental data, motor vehicles driving in front of, next to and/or behind an own motor vehicle and preferably objects standing in front, to provide the environmental data representing an area in front of, next to and/or behind the own motor vehicle, and wherein the method comprises the steps: identifying another motor vehicle participating in traffic in front of the own motor vehicle as reference vehicle relative to the own motor vehicle both on a lane on which the own motor vehicle is also travelling and on a neighbouring lane with slower traffic than the own motor vehicle, starting out from a momentary location, determining the distance and the relative speed with respect to a vehicle driving in front in the slower neighbouring lane, receiving a signal of a driver's desire for a lane change or a request signal for a lane change or for a merging manoeuvre, determining whether a lane change is possible within predetermined limits from the distance and the relative speed with respect to the vehicle driving in front in the slower neighbouring lane, and if this is given, effecting a reduction in the driving speed of the own motor vehicle by a braking and/or engine management intervention, in order to enable the driver of the own motor vehicle to change lane to the slower lane. ### Claim 9 (depends on 8) The method according to claim 8, in which the predetermined limits are (i) a maximal deceleration of the own motor vehicle (ego), (ii) a minimal distance of the own motor vehicle (ego) to the vehicle driving in front in the slower lane, and/or (iii) a minimal distance between the vehicle driving in front and a vehicle following this in the slower lane.