US 12,330,652 B2
Lane-based vehicle control
Kevin Martin, Lasalle (CA)
Assigned to Ford Global Technologies, LLC, Dearborn, MI (US)
Filed by Ford Global Technologies, LLC, Dearborn, MI (US)
Filed on Dec. 19, 2022, as Appl. No. 18/067,752.
Prior Publication US 2024/0199024 A1, Jun. 20, 2024
Int. Cl. B60W 30/18 (2012.01); B60W 30/12 (2020.01); B60W 30/14 (2006.01); B60W 30/16 (2020.01)
CPC B60W 30/18163 (2013.01) [B60W 30/12 (2013.01); B60W 30/143 (2013.01); B60W 30/16 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising a computer for a host vehicle including a processor and a memory, the memory storing instructions executable by the processor such that the computer is programmed to:
in response to an initiation of a lane-change, adjust a speed of the host vehicle in a current lane to establish a forward longitudinal distance from a lead vehicle in a target lane;
move the host vehicle from a first lateral position to a second lateral position in the current lane based on determining that a rear longitudinal distance of the host vehicle from a trailing vehicle in the target lane is less than a rear distance threshold;
move the host vehicle from the second lateral position to a third lateral position in the current lane based on determining that the rear longitudinal distance is increasing; and
when the forward longitudinal distance exceeds a forward distance threshold and the rear longitudinal distance exceeds the rear distance threshold, move the vehicle from the current lane to the target lane.