Proximity event determination with lane change information

1. A system for determining lane change information, comprising:

an input interface configured to receive sensor-collected data of vehicle behavior; and

a processor configured to:

determine the lane change information based at least in part on:

determining a lane leaving event responsive to a determination that the sensor-collected data includes lane leaving information, and

determining a cut off event responsive to a determination that the sensor-collected data includes cut off information, wherein the cut off information is based at least in part on sensor-collected data including information about a vehicle in front of a current vehicle; and

output the lane change information.

2. The system of claim 1 , wherein the determination of a lane leaving event is based at least in part on an indication from a vision system of a vehicle leaving a lane.

3. The system of claim 1 , wherein the determination of a lane leaving event is based at least in part on an increase in proximity between two vehicles meeting a threshold.

4. The system of claim 1 , wherein the determination of a cut off event is based at least in part on identification of a vehicle in a forward facing camera.

5. The system of claim 1 , wherein the determination of a cut off event is based at least in part on an increase in proximity between two vehicles meeting a threshold.

6. The system of claim 1 , wherein the processor is further configured to determine a proximity event based at least in part on the lane change information.

7. The system of claim 6 , wherein the determination of the proximity event is performed in response to a determination that vehicle speed is above a speed threshold.

8. The system of claim 6 , wherein the processor is further configured to:

determine that a vehicle speed is greater than a threshold; and

responsive to the determination that a vehicle speed is greater than a threshold, determine that a proximity event is to be provided based at least in part on the lane change information.

9. The system of claim 8 , wherein the determination of that a proximity event is to be provided includes:

determining a proximity time threshold;

detecting absence of a vehicle within the proximity time threshold.

10. The system of claim 9 , wherein the proximity time threshold is based at least in part on vehicle deceleration.

11. The system of claim 9 , wherein the proximity time threshold is proportional to vehicle speed.

12. The system of claim 8 , wherein the determination that a proximity event is to be provided includes:

determining a proximity time threshold;

determining a sustained proximity time threshold;

detecting a vehicle within the proximity time threshold; and

responsive to the detection of the vehicle within the proximity time threshold, detecting a vehicle within the proximity time threshold for less than or equal to the sustained proximity time threshold.

13. The system of claim 12 , wherein the sustained proximity time threshold is based at least in part on the cut off event.

14. The system of claim 6 , wherein the processor is further configured to:

determine that a vehicle speed is greater than a threshold; and

responsive to the determination that a vehicle speed is greater than a threshold, determine that a proximity event is to be canceled based at least in part on:

determining a proximity time threshold;

determining a sustained proximity time threshold;

detecting a vehicle within the proximity time threshold;

responsive to the detection of the vehicle within the proximity time threshold, detecting a vehicle within the proximity time threshold for greater than the sustained proximity time threshold;

queuing the proximity event; and

determining that the lane leaving event was received while the proximity event was queued.

15. The system of claim 14 , wherein, subsequent to queuing the proximity event, waiting for a queue time.

16. The system of claim 6 , wherein the processor is further configured to:

determine that a vehicle speed is greater than a threshold; and

responsive to the determination that a vehicle speed is greater than a threshold, determine that a proximity event is to be released from a queue based at least in part on:

determining a proximity time threshold;

determining a sustained proximity time threshold;

detecting a vehicle within the proximity time threshold;

responsive to the detection of the vehicle within the proximity time threshold, detecting a vehicle within the proximity time threshold for greater than the sustained proximity time threshold;

queuing the proximity event; and

determining that the lane leaving event was not received while the proximity event was queued.

17. The system of claim 16 , wherein the processor is further configured to, responsive to a determination that the proximity event is to be released from the queue, log the proximity event.

18. The system of claim 16 , wherein the processor is further configured to, responsive to a determination that the proximity event is to be released from the queue, upload the proximity event.

19. The system of claim 1 , wherein the processor is further configured to increase a proximity time threshold for detecting a proximity event in response to the determination of a cut off event.

20. A method to determine lane change information, comprising:

receiving, via an input interface, sensor-collected data of vehicle behavior;

determining, by a processor, the lane change information based at least in part on:

determining a lane leaving event responsive to a determination that the sensor-collected data includes lane leaving information, and

determining a cut off event responsive to a determination that the sensor-collected data includes cut off information, wherein the cut off information is based at least in part on sensor-collected data including information about a vehicle in front of a current vehicle; and

outputting the lane change information.

21. A computer program product for determining lane change information, the computer program product being embodied in a non-transitory computer readable storage medium and comprising computer instructions for:

receiving sensor-collected data of vehicle behavior;

determining the lane change information based at least in part on:

determining a lane leaving event responsive to a determination that the sensor-collected data includes lane leaving information, and

determining a cut off event responsive to a determination that the sensor-collected data includes cut off information, wherein the cut off information is based at least in part on sensor-collected data including information about a vehicle in front of a current vehicle; and

outputting the lane change information.