	US 12,221,109 B2
	Road congestion-aware automatic lane change activation before lane termination
Chuan Li, Troy, MI (US); and Donald K. Grimm, Utica, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM Global Technology Operations LLC, Detroit, MI (US)
Filed on Oct. 10, 2022, as Appl. No. 18/045,250.
Prior Publication US 2024/0116510 A1, Apr. 11, 2024
Int. Cl. B60W 30/18 (2012.01); B60W 40/04 (2006.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); B60W 50/00 (2006.01)

CPC B60W 30/18163 (2013.01) [B60W 40/04 (2013.01); B60W 50/14 (2013.01); B60W 60/0015 (2020.02); B60W 2050/0028 (2013.01); B60W 2050/146 (2013.01); B60W 2554/406 (2020.02); B60W 2554/80 (2020.02); B60W 2556/40 (2020.02); B60W 2556/50 (2020.02)]

6 Claims

1. A method for activating a vehicle automatic lane change, comprising:

obtaining an approximate vehicle location distribution in a non-congested area of a roadway;

communicating global positioning system (GPS) data and the vehicle location distribution between an in-vehicle computer and a telematics module of a host vehicle;

performing an estimate of a probability of a successful lane change from a lane change control point (Pc) in the non-congested area to a congestion point (C₁) in a congested area of the roadway;

performing a probability estimation adjustment using turn signal statistics by:

adjusting a vehicle population or density estimation using the turn signal statistics as feedback; and

applying a turn signal sample record including a latitude, a longitude, a heading, a signal-status and a timestamp;

performing a vehicle density adjustment, assuming a lane change duration custom character

and a turn signal active total time duration custom character

, an opportunity seeking duration is custom character

−

;

inferring a host vehicle speed through telemetry;

determining a first vehicle count adjustment on a virtual road segment of the roadway assuming a minimum vehicle gap between vehicles on the roadway, and a second vehicle count adjustment on the virtual road segment where the vehicle count is defined by multiple vehicle sample points on a virtual segment length of the roadway;

determining an average headway of vehicles in the non-congested area;

calculating a safe lane change headway distance in a target roadway lane for the host vehicle; and

generating control signals including a lane change execution signal to initiate and control vehicle automatic lane change to the target roadway lane in the non-congested area for the host vehicle.