US 12,252,127 B2
Dynamically calculating lane change trajectories
Tapan R. Mujumdar, Rochester Hills, MI (US); and Pardis Khayyer, Carmel, IN (US)
Assigned to Aptiv Technologies AG, Schaffhausen (CH)
Filed by Aptiv Technologies AG, Schaffhausen (CH)
Filed on Apr. 19, 2022, as Appl. No. 17/659,833.
Prior Publication US 2023/0331231 A1, Oct. 19, 2023
Int. Cl. B60W 30/18 (2012.01)
CPC B60W 30/18163 (2013.01) [B60W 2520/06 (2013.01); B60W 2540/215 (2020.02); B60W 2552/10 (2020.02); B60W 2552/30 (2020.02)] 22 Claims
OG exemplary drawing
 
1. A method comprising:
receiving a request for a lane change trajectory for a lane change of a host vehicle that is traveling along a roadway;
determining whether a preferred offset exists for the host vehicle, the preferred offset being an amount of asymmetry of the lane change trajectory, and whereby the preferred offset is indicative of a preference for a shape of the lane change trajectory, namely whether the lane change trajectory i) has an aggressive entry and relaxed exit, ii) is a symmetrical lane change, or iii) has a relaxed entry and aggressive exit, wherein a range of values of the preferred offset includes a) a first range indicative of an aggressive entry and relaxed exit, b) a second range indicative of a symmetrical lane change, and c) a third range indicative of a relaxed entry and aggressive exit;
responsive to determining that the preferred offset exists, calculating the lane change trajectory based on the preferred offset; and
providing the lane change trajectory to a vehicle component effective to cause the vehicle component to execute the lane change according to the lane change trajectory.