Vehicle lane change assist improvements
View Patent ↗Systems and methods for lane change prediction, detection, and/or confirmation. In some embodiments, a vehicle yaw rate associated with a vehicle may be detected and a set of vehicle yaw rate data may be generated. A steering angle associated with the vehicle may also be detected and a set of vehicle steering angle data generated. A first filter model may be used to process the vehicle yaw rate data. The vehicle steering angle data may be used to confirm a suspected lane change. A parameter threshold may be applied to the processed vehicle yaw rate data and, upon exceeding the parameter threshold and upon confirmation of the suspected lane change from the vehicle steering angle date, a parameter of a lane change assist system of the vehicle may be adjusted.
1. A method for vehicle lane change detection, the method comprising the steps of:
detecting at least one of a vehicle yaw rate and a steering angle associated with a vehicle using one or more sensors of the vehicle;
generating a set of lane change data from the at least one of a vehicle yaw rate and a steering angle;
using a first filter model to process the lane change data;
comparing at least a subset of the processed lane change data with a threshold;
upon detecting that the at least the subset of the processed lane change data has exceeded the threshold; switching the first filter model to a second filter model to predict a vehicle lane change; and
using the second filter model to process the lane change data.
2. The method of claim 1 , wherein the threshold comprises an innovation covariance threshold.
3. The method of claim 1 , further comprising:
after the step of switching the first filter model to the second filter model, comparing at least a subset of the processed lane change data with a second threshold; and
upon detecting that at least a subset of processed lane change data has exceeded the second threshold, switching the second filter model to the first filter model.
4. The method of claim 1 , wherein the first filter model comprises a steady vehicle maneuvering model, and wherein the second filter model comprises a high vehicle maneuvering model.
5. The method of claim 1 , wherein the step of detecting at least one of a vehicle yaw rate and a steering angle associated with a vehicle comprises detecting both a vehicle yaw rate and a steering angle associated with the vehicle.
6. The method of claim 5 , wherein the lane change data includes the vehicle yaw rate, and wherein the lane change data does not include the steering angle.
7. The method of claim 6 , further comprising:
using a transition from the first filter model to the second filter model to predict a vehicle lane change; and
using a full-cycle confirmation of the steering angle to confirm the vehicle lane change.
8. The method of claim 7 , further comprising, upon confirmation of the vehicle lane change using both the switch from the first filter model to the second filter model and the full-cycle confirmation of the steering angle, adjusting a parameter of a lane change assist system of the vehicle.
9. The method of claim 8 , wherein the step of adjusting a parameter comprises setting a zone of interest of the lane change assist system.