Target vehicle position prediction for assisted lane change
A system includes a vehicle location prediction module (VLPM) configured to receive sensor data associated with a set of target vehicles. For each respective target vehicle, the VLPM is configured to determine a prediction corresponding to the respective target vehicle. 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 maintaining or adjusting a target vehicle acceleration or executing a portion of a lane change based on the outcome of the set of criteria. A second prediction segment of the plurality of prediction segments is based on the first prediction segment.
1 . A system comprising:
a vehicle location prediction module configured to:
receive 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; and
for each respective target vehicle of a subset of the set of target vehicles, determine 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
a gap selection module configured to determine a host vehicle lane change location based on the prediction corresponding to the respective target vehicle.
2 . The system of claim 1 wherein the plurality of prediction segments corresponds to contiguous time intervals of equal duration.
3 . The system of claim 2 wherein a duration of the contiguous time intervals is 10-500 milliseconds.
4 . The system of claim 1 wherein the prediction indicates a speed of the respective target vehicle at teach of the plurality of prediction segments.
5 . The system of claim 1 wherein the sensor data is received from a set of sensors configured to detect the set of target vehicles.
6 . The system of claim 1 comprising an autonomous vehicle control module configured to execute an automated lane change maneuver based on the host vehicle lane change location.
7 . The system of claim 1 wherein the vehicle location prediction module is configured to:
in response to a determination that a duration of the prediction exceeds a prediction threshold, output the prediction to the gap selection module, and
in response to a determination that the duration of the prediction does not exceed a prediction threshold, determine a third prediction segment.
8 . The system of claim 1 wherein the vehicle location prediction module is configured to determine a prediction corresponding to each vehicle in the set of target vehicles.
9 . The system of claim 1 wherein determining the host vehicle lane change location is based on a gap between two target vehicles of the set of target vehicles including:
a size of the gap,
a duration of existence associated with the gap, or
a time of appearance associated the gap.
10 . The system of claim 1 wherein the set of criteria includes:
a criterion that is met when the respective target vehicle is categorized in a first category,
a criterion that is met when the respective target vehicle is categorized in a second category,
a criterion that is met when the respective target vehicle is categorized in a third category,
a criterion that is met when a gap between the lead vehicle and the respective target vehicle meets a first threshold distance,
a criterion that is met when the gap between the lead vehicle and the respective target vehicle meets a second threshold distance,
a criterion that is met when the speed of the respective target vehicle exceeds a threshold speed,
a criterion that is met when a gap exists adjacent to the respective target vehicle, and
a criterion that is met when the speed of the respective target vehicle is outside of a threshold speed range.
11 . 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.
12 . The method of claim 11 wherein:
plurality of prediction segments corresponds to contiguous time intervals of equal duration;
a duration of the contiguous time intervals is 10-500 milliseconds;
the prediction indicates a speed of the respective target vehicle at teach of the plurality of prediction segments; and
the sensor data is received from a set of sensors configured to detect the set of target vehicles.
13 . The method of claim 11 comprising executing an automated lane change maneuver based on the host vehicle lane change location.
14 . The method of claim 11 comprising:
in response to a determination that a duration of the prediction exceeds a prediction threshold, outputting the prediction; and
in response to a determination that the duration of the prediction does not exceed a prediction threshold, determining a third prediction segment.
15 . The method of claim 11 wherein determining the host vehicle lane change location is based on a gap between two target vehicles of the set of target vehicles including:
a size of the gap,
a duration of existence associated with the gap, or
a time of appearance associated the gap.
16 . 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.
17 . The non-transitory computer-readable storage medium of claim 16 wherein the instructions include:
plurality of prediction segments corresponds to contiguous time intervals of equal duration;
a duration of the contiguous time intervals is 10-500 milliseconds;
the prediction indicates a speed of the respective target vehicle at teach of the plurality of prediction segments; and
the sensor data is received from a set of sensors configured to detect the set of target vehicles.
18 . The non-transitory computer-readable storage medium of claim 16 wherein the instructions include executing an automated lane change maneuver based on the host vehicle lane change location.
19 . The non-transitory computer-readable storage medium of claim 16 wherein the instructions include:
in response to a determination that a duration of the prediction exceeds a prediction threshold, outputting the prediction; and
in response to a determination that the duration of the prediction does not exceed a prediction threshold, determining a third prediction segment.
20 . The non-transitory computer-readable storage medium of claim 16 wherein determining the host vehicle lane change location is based on a gap between two target vehicles of the set of target vehicles including:
a size of the gap,
a duration of existence associated with the gap, or
a time of appearance associated the gap.