Systems and methods for vehicle lane change detection
View Patent ↗Methods and systems for detecting lane changes using vehicle path data. In some implementations, one or more environmental sensors, such as RADAR modules, may be used to generate a first data set associated with a trajectory of a host vehicle. The first data set may be representative of a curve on a graph. Points of inflection may be sought in the curve. An identification of a point of inflection in the curve may then be used to confirm a lane change of the host vehicle.
1. A method for vehicle lane change detection, the method comprising the steps of:
using one or more environmental sensors to generate a first data set associated with a trajectory of a host vehicle, wherein the first data set is representative of a curve on a graph;
identifying a point of inflection in the curve; and
using the identification of the point of inflection in the curve to confirm a lane change of the host vehicle.
2. The method of claim 1 , further comprising deriving a second data set from the first data set, and wherein the step of using the identification of the point of inflection in the graph to confirm a lane change of the host vehicle comprises identifying convexity in a graph derivable from the second data set.
3. The method of claim 2 , wherein the second data set is representative of unit tangents along the curve.
4. The method of claim 3 , further comprising determining a lane change onset location using the first data set.
5. The method of claim 4 , wherein the step of determining a lane change onset location using the first data set comprises:
deriving a second data set from the first data set, wherein the second data set is representative of unit tangents along the curve; and
determining where a graph derivable from the second data set is non-zero.
6. The method of claim 1 , wherein the one or more environmental sensors comprises at least one of a RADAR sensor, a LIDAR sensor, and a camera.
7. The method of claim 1 , wherein the step of identifying a point of inflection in the curve is performed without generating a visual display of the curve.
8. The method of claim 1 , further comprising, prior to the step of using the identification of the point of inflection in the curve to confirm a lane change of the host vehicle, determining whether there is a possible lane departure of the host vehicle.
9. The method of claim 8 , wherein the step of determining whether there is a possible lane departure of the host vehicle comprises confirming lateral displacement of the host vehicle from a current lane beyond a distance threshold.
10. A method for vehicle lane change detection, the method comprising the steps of:
generating a first data set representative of a historical map of a host vehicle trajectory;
determining whether there is a possible lane departure of the host vehicle;
upon confirming a possible lane departure of the host vehicle, determining whether the possible lane departure is a lane change by seeking to identify an inflection point in a curve derivable from the first data set; and
upon identifying an inflection point in the curve, adjusting a parameter of a lane change assist system of the host vehicle.
11. The method of claim 10 , wherein the step of determining whether there is a possible lane departure comprises confirming lateral displacement of the host vehicle from a current lane beyond a distance threshold.
12. The method of claim 11 , wherein the distance threshold comprises a distance of between about 50% and about 70% of a width of the current lane.
13. The method of claim 10 , wherein the step of adjusting a parameter of a lane change assist system of the host vehicle comprises resetting a zone of interest of the lane change assist system.
14. The method of claim 10 , further comprising determining a lane change onset location using the first data set.
15. The method of claim 14 , further comprising using the lane change onset location to adjust a parameter of a lane change assist system of the host vehicle.
16. The method of claim 14 , wherein the step of determining a lane change onset location using the first data set comprises using the first data set to determine a location at which a lateral velocity of the host vehicle matches a current value of the lateral velocity in the first data set.
17. The method of claim 10 , further comprising, following confirmation that the possible lane change is a lane change, determining which portion of the host vehicle trajectory from first data set is within a current lane of a vehicle lane change assist system of the host vehicle.
18. A system for vehicle lane change detection within a host vehicle, comprising:
one or more environmental sensors configured to generate vehicle environmental data for a host vehicle; and
a vehicle trajectory module configured to process the vehicle environmental data and to generate vehicle trajectory data from which a map of a history of a host vehicle trajectory may be derived, and wherein the vehicle trajectory module is further configured to identify a lane change of the host vehicle by searching for points of inflection in a curve derivable from the vehicle trajectory data.
19. The system of claim 18 , wherein the vehicle trajectory module is configured to identify points of inflection in the curve by:
taking a derivative of a function derivable from the vehicle trajectory data; and
identifying locations at which the function is equal to zero.
20. The system of claim 18 , wherein the vehicle trajectory module is configured to identify points of inflection in the curve by identifying convexity in a graph derivable from the vehicle trajectory data.