EP4622840A1

EP4622840A1 - System and method for determining lanes for lane change of ego vehicle

Info

Publication number: EP4622840A1
Application number: EP23789230.2A
Authority: EP
Inventors: Shiva Govinda; Thomas Schwab
Original assignee: Mercedes Benz Group AG
Current assignee: Mercedes Benz Group AG
Priority date: 2022-11-11
Filing date: 2023-10-05
Publication date: 2025-10-01
Also published as: WO2024099584A1

Abstract

The present disclosure provides a system (200) and method (300) for determining lanes for lane change of an ego vehicle (150). The system includes a computing device (202) configured to receive an average speed of each lane out of a plurality of available lanes (101 - 106) for the ego vehicle. The computing device is further configured to receive, a current speed, a set speed of cruise control, and a current lane of the ego vehicle; and to designate one or more lanes as allowable for lane change for the ego vehicle. The designated one or more lanes are determined based on at least the average speed and the location of the designated one or more lanes. The designated one or more lanes are indicative of a provision of a route for the ego vehicle allowing the ego vehicle is maintain a constant speed close to the set speed of cruise control for a maximum duration of time.

Description

SYSTEM AND METHOD FOR DETERMINING LANES FOR LANE CHANGE OF EGO VEHICLE

TECHNICAL FIELD

[0001] The present disclosure generally relates to lane changes for an autonomous vehicle. In particular, the present disclosure relates to a means to determine lane changes for an autonomous vehicle to maintain an average speed of the autonomous vehicle.

BACKGROUND

[0002] Background description includes information that may be useful in understanding the present invention. It is not an admission that any of the information provided herein is prior art or relevant to the presently claimed invention, or that any publication specifically or implicitly referenced is prior art.

[0003] Autonomous vehicles are equipped with driver-assist technologies that allow the vehicle to determine when to change lanes in a multi-lane road on which the vehicle may be travelling. Conventionally, the driver-assist technologies identify one or more lanes where the average speed of the vehicle may be maintained. When the vehicle encounters an obstacle to maintaining its speed in its current lane, such as a presence of a slower moving vehicle, the driver-assist technology may move the vehicle to another lane.

[0004] However, in the presence of many lanes or during a period of high traffic density, the driver-assist technology may begin to frequently change the lanes of the vehicle, which may be distracting or inconvenient to passengers in the vehicle. Further, frequent changing of lanes may also affect a fuel economy of the vehicle.

[0005] Patent document US10916125 provides systems and methods for cooperative smart lane selection. A computer-implemented method for cooperative smart lane selection includes receiving vehicle data for a plurality of vehicles. Each vehicle in the plurality of vehicles is travelling along a road segment having a plurality of lanes. The road segment is parsed into a plurality of inter-lane zones including a buffer zone and an implementation zone downstream of the buffer zone. Each inter-lane zone includes the lanes of the plurality of lanes. The computer-implemented method includes integrating the vehicle data into the plurality inter-lane zones by lane of the plurality of lanes. The computer-implemented method also includes calculating flow factors for the lanes in the implementation zone. The computer- implemented method further includes selecting a lane from the plurality of lanes based on the flow factors and controlling a host vehicle based on the flow factors.

[0006] Patent document US9286800 provides an automated lane management assist method, data structure and system configured to receive unprocessed lane-specific limitedaccess highway information, including lane use and speed limits, from freeway transportation management centers or traffic management centers, process and convert the unprocessed information to a form that assists in the selection of driving lanes and target speeds for vehicles, and communicate the processed information to the vehicles by suitable means. A guidance assist vehicle module combines the processed information with information from the vehicle and the driver including the information on appropriate lane changes and speed commands to the vehicle.

[0007] Patent document US10328973 provides methods, systems, and computer program products for assisting drivers with roadway lane changes. A lane recommendation can be based on sensed and/or communicated aspects of surrounding vehicles (e.g., speed, acceleration, etc.). Lane recommendations can be communicated to a driver with audio and/or visual cues. Images of surrounding roadway are augmented with additional data to highlight lanes, lane change locations, other vehicles, etc. Lane recommendations can be revised in (essentially) real-time in response to changing conditions in a roadway environment (e.g., a vehicle in a neighboring lane has changed speed).

[0008] However, the cited patent documents do not provide an adequate solution to the problem posed due to frequent lane changes by an ego vehicle.

[0009] There is, therefore, a requirement in the art for a means to provide a means to allow an ego vehicle to efficiently change lanes in a multi-lane road on which the ego vehicle is travelling.

OBJECTS OF INVENTION

[0010] An object of the present invention is to provide a system and method for determining lanes for lane change of a vehicle.

[0011] Another object of the present invention is to provide a system and method for minimizing a number of lane changes along a route of the vehicle.

[0012] Another object of the present invention is to provide a system and method for allowing the vehicle to maintain its speed through a duration of its journey. SUMMARY

[0013] The present disclosure generally relates to lane changes for an autonomous vehicle. In particular, the present disclosure relates to a means to determine lane changes for an autonomous vehicle to maintain an average speed of the autonomous vehicle.

[0014] In a first aspect, the present disclosure provides a system for determining lanes for lane change of an ego vehicle. The system includes a computing device including a processor communicably coupled with a memory, the memory storing instructions executable by the processor. The computing device is configured to receive an average speed of each lane out of a plurality of available lanes for the ego vehicle. The computing device is further configured to receive, a current speed, a set speed of cruise control, and a current lane of the ego vehicle. The computing device is further configured to designate one or more lanes from the plurality of available lanes as allowable for lane change for the ego vehicle. The designated one or more lanes are determined based on at least the average speed and the location of the one or more lanes. The designated one or more lanes are indicative of a provision of a route for the ego vehicle allowing the ego vehicle is maintain a constant speed close to the set speed of cruise control for a maximum duration of time.

[0015] In some embodiments, the computing device is further configured to designate the one or more lanes from the plurality of available lanes, such that the average speed of each of the one or more lanes is within a predetermined range of values. The one or more designated lanes are adjacent to one another. The predetermined range of values is defined as a range of values close to the set speed of cruise control of the ego vehicle.

[0016] Predetermined value is defined as a value close to the set speed of the cruise control.

[0017] In some embodiments, the designated one or more lanes include the current lane of the ego vehicle.

[0018] In some embodiments, the computing device is further configured to disallow the ego vehicle from changing lanes from the designated one or more lanes to any lane from the plurality of available lanes outside of the designated one or more lanes.

[0019] In some embodiments, the designated one or more lanes include lanes other than the current lane of the ego vehicle.

[0020] In some embodiments, the computing device is further configured to allow the ego vehicle to change lanes from the current lane of the ego vehicle to any of the designated one or more lanes. Responsive to the ego vehicle changing lanes to any one of the designated one or more lanes, the computing device is further configured to disallow the ego vehicle from changing lanes from the designated one or more lanes to any lane from the plurality of available lanes outside of the designated one or more lanes.

[0021] In some embodiments, the designated one or more lanes comprise a lane from the plurality of available lanes for the ego vehicle having a highest value of average speed.

[0022] In some embodiments, the designated one or more lanes include the plurality of available lanes for the ego vehicle.

[0023] In a second aspect, the present disclosure provides a method for determining lanes for lane change of an ego vehicle. The method includes receiving, at a computing device, an average speed of each lane out of a plurality of available lanes for the ego vehicle. The method further includes receiving, at the computing device, a current speed, a et speed of cruise control, and a current lane of the ego vehicle. The method further includes designating, at the computing device, one or more lanes from the plurality of available lanes as allowable for lane change for the ego vehicle. The one or more lanes are determined based on at least the average speed and the location of the one or more lanes. The one or more lanes are indicative of a provision of a route for the ego vehicle allowing the ego vehicle is maintain a constant speed close to the set speed of cruise control for a maximum duration of time.

[0024] In a third aspect, the present disclosure provides a vehicle configured to determine lanes for its lane change based on a receipt of a signal, the signal transmitted from a computing device. The computing device is configured to receive, at a processor of the computing device, an average speed of each lane out of a plurality of available lanes for the ego vehicle. The computing device is further configured to receive, at the processor of the computing device, a current speed, a set speed of cruise control, and a current lane of the ego vehicle. The computing device is further configured to designate, at the processor of the computing device, one or more lanes from the plurality of available lanes as allowable for lane change for the ego vehicle. The one or more lanes are determined based on at least the average speed and the location of the one or more lanes. The one or more lanes are indicative of a provision of a route for the ego vehicle allowing the ego vehicle is maintain a constant speed close to the set speed of cruise control for a maximum duration of time.

[0025] Various objects, features, aspects, and advantages of the inventive subject matter will become more apparent from the following detailed description of preferred embodiments, along with the accompanying drawing figures in which like numerals represent like components. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of this specification. The drawings illustrate exemplary embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0027] FIG. 1 illustrates a schematic representation of a multi-lane roadway including an ego vehicle, according to an embodiment of the present disclosure;

[0028] FIG. 2 illustrates a schematic block diagram for a system for determining lanes for lane change of the ego vehicle, according to an embodiment of the present disclosure;

[0029] FIG. 3 illustrates a schematic flow diagram for a method for determining lanes for lane change of the ego vehicle, according to an embodiment of the present disclosure;

[0030] FIG. 4A illustrates a schematic flow diagram for a process to determine lanes for lane change of the ego vehicle, according to an embodiment of the present disclosure;

[0031] FIG. 4B illustrates a schematic flow diagram for a process to determine lanes for lane change of the ego vehicle, according to another embodiment of the present disclosure;

[0032] FIG. 4C illustrates a schematic flow diagram for a process to determine lanes for lane change of the ego vehicle, according to another embodiment of the present disclosure;

[0033] FIG. 4D illustrates a schematic flow diagram for a process to determine lanes for lane change of the ego vehicle, according to another embodiment of the present disclosure; and [0034] FIG. 5 illustrates an exemplary schematic block diagram of a hardware platform for implementation of the computing device of FIG. 2.

DETAILED DESCRIPTION

[0035] The following is a detailed description of embodiments of the disclosure depicted in the accompanying drawings. The embodiments are in such details as to clearly communicate the disclosure. However, the amount of detail offered is not intended to limit the anticipated variations of embodiments; on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present disclosure as defined by the appended claims.

[0036] In an aspect, the present disclosure provides a system for determining lanes for lane change of an ego vehicle. The system includes a computing device including a processor communicably coupled with a memory, the memory storing instructions executable by the processor. The computing device is configured to receive an average speed of each lane out of a plurality of available lanes for the ego vehicle. The computing device is further configured to receive, a current speed, a set speed of cruise control, and a current lane of the ego vehicle. The computing device is further configured to designate one or more lanes from the plurality of available lanes as allowable for lane change for the ego vehicle. The designated one or more lanes are determined based on at least the average speed and the location of the one or more lanes. The designated one or more lanes are indicative of a provision of a route for the ego vehicle allowing the ego vehicle is maintain a constant speed close to the set speed of cruise control for a maximum duration of time.

[0037] In some embodiments, the computing device is further configured to designate the one or more lanes from the plurality of available lanes, such that the average speed of each of the one or more lanes is within a predetermined range of values. The one or more designated lanes are adjacent to one another. The predetermined range of values is defined as a range of values close to the set speed of cruise control of the ego vehicle.

[0038] In some embodiments, the designated one or more lanes include the current lane of the ego vehicle.

[0039] In some embodiments, the computing device is further configured to disallow the ego vehicle from changing lanes from the designated one or more lanes to any lane from the plurality of available lanes outside of the designated one or more lanes.

[0040] In some embodiments, the designated one or more lanes include lanes other than the current lane of the ego vehicle.

[0041] In some embodiments, the computing device is further configured to allow the ego vehicle to change lanes from the current lane of the ego vehicle to any of the designated one or more lanes. Responsive to the ego vehicle changing lanes to any one of the designated one or more lanes, the computing device is further configured to disallow the ego vehicle from changing lanes from the designated one or more lanes to any lane from the plurality of available lanes outside of the designated one or more lanes.

[0042] In some embodiments, the designated one or more lanes comprise a lane from the plurality of available lanes for the ego vehicle having a highest value of average speed.

[0043] In some embodiments, the designated one or more lanes include the plurality of available lanes for the ego vehicle.

[0044] In another aspect, the present disclosure provides a method for determining lanes for lane change of an ego vehicle. The method includes receiving, at a computing device, an average speed of each lane out of a plurality of available lanes for the ego vehicle. The method further includes receiving, at the computing device, a current speed, a set speed of cruise control, and a current lane of the ego vehicle. The method further includes designating, at the computing device, one or more lanes from the plurality of available lanes as allowable for lane change for the ego vehicle. The one or more lanes are determined based on at least the average speed and the location of the one or more lanes. The one or more lanes are indicative of a provision of a route for the ego vehicle allowing the ego vehicle is maintain a constant speed close to the set speed of cruise control for a maximum duration of time.

[0045] In another aspect, the present disclosure provides a vehicle configured to determine lanes for its lane change based on a receipt of a signal, the signal transmitted from a computing device. The computing device is configured to receive, at a processor of the computing device, an average speed of each lane out of a plurality of available lanes for the ego vehicle. The computing device is further configured to receive, at the processor of the computing device, a current speed, a set speed of cruise control, and a current lane of the ego vehicle. The computing device is further configured to designate, at the processor of the computing device, one or more lanes from the plurality of available lanes as allowable for lane change for the ego vehicle. The one or more lanes are determined based on at least the average speed and the location of the one or more lanes. The one or more lanes are indicative of a provision of a route for the ego vehicle allowing the ego vehicle is maintain a constant speed close to the set speed of cruise control for a maximum duration of time.

[0046] FIG. 1 illustrates a schematic representation of a multi -lane roadway 100 including an ego vehicle 150, according to an embodiment of the present disclosure. The roadway 100 may include one or more lanes. In the illustrated embodiment of FIG. 1, the roadway 100 includes six lanes 101, 102, 103, 104, 105, 106. Further, the ego vehicle 150 is located on the third lane 103. The roadway 100 may further include other vehicles 110 travelling on the lanes 101-106. Each of the lanes 101-106 may be designated for different vehicles. Further, each of the lanes 101-106 may have different allowable speeds for vehicles using them. Based on the vehicles travelling on a lane, a traffic density of the lane, and the allowable speed for the lane, the vehicles moving in the lane may have an average speed.

[0047] FIG. 2 illustrates a schematic block diagram for a system 200 for determining lanes for lane change of the ego vehicle 150, according to an embodiment of the present disclosure. Referring now to FIGs. 1 and 2, the system 200 may include a computing device 202 configured to implement the system 200. The computing device 202 may be a physical device provided on the ego vehicle 150 or may be a remote server or a cloud server communicably coupled to the ego vehicle 150. The computing device 202 may include a processor 204 and a memory 206. The memory 206 may be communicably coupled to the processor 204 and may store instructions executable by the processor 204 to enable the computing device 202 to determine lanes for lane change of the ego vehicle 150. The computing device 202 may further include an interface 208. The interface 208 may facilitate exchange of data and/or instruction between the computing device 202 and other external devices and systems. The interface 208 may also provide a communication means between various components of the computing device 202.

[0048] The system 200 further includes a database 250 communicably coupled to the computing device 202. The database 250 may be a physical database or may be a remote or cloud database. The database 150 may store information and data pertaining to the ego vehicle 150 and to travel of the ego vehicle 150. For example, the database 250 may store information relating to a maximum speed of the ego vehicle 150. In another example, the database 250 may store information relating to a route that the ego vehicle 150 is taking, including details of the road, number of lanes in the road, speed restrictions on the road, types of lanes, traffic density on the road, etc. The computing device 202 may be configured to access the information stored in the database 250. The database 250 may be updated at frequent intervals in order that the computing device 202 has access to recent data.

[0049] The computing device 202 further includes a processing engine 210. The processing engine 210 is configured to execute functions in order to facilitate the computing device 202 to determine lanes for lane change of the ego vehicle 150. The processing engine 120 includes a lane attributes engine 212, an ego vehicle attributes engine 214, a lane designation engine 216, and other engine(s) 218. The other engine(s) 218 may be configured to perform functions ancillary to the working of the computing device 202.

[0050] In some embodiments, the lane attributes engine 212 is configured to receive the average speed of each lane out of a plurality of available lanes 101- 106 for the ego vehicle 150.

[0051] In some embodiments, the ego vehicle attributes engine 214 is configured to receive a current speed, a set speed of cruise control, and a current lane of the ego vehicle 150. [0052] In some embodiments, the lane designation engine 216 is configured to designate one or more lanes from the plurality of available lanes 101-106 as allowable for lane change of the ego vehicle 150. The one or more lanes are determined based on at least the average speed and the location of the one or more lanes. The one or more lanes are indicative of a provision of a route for the ego vehicle 150 allowing the ego vehicle 150 is maintain a constant speed close to the set speed of cruise control for a maximum duration of time.

[0053] FIG. 3 illustrates a schematic flow diagram for a method 300 for determining lanes for lane change of the ego vehicle 150, according to an embodiment of the present disclosure. Referring now to FIGs. 1 to 3, at step 302, the method 300 includes receiving, at the computing device 202, an average speed of each lane out of a plurality of available lanes 101-106 for the ego vehicle 150. At step 304, the method 300 further includes receiving, at the computing device 202, a current speed, a set speed of cruise control, and a current lane of the ego vehicle 150. At step 306, the method 300 further includes designating 306, at the computing device 202, one or more lanes from the plurality of available lanes 101-106 as allowable for lane change for the ego vehicle 150.

[0054] FIG. 4A illustrates a schematic flow diagram for a process 400 to determine lanes for lane change of the ego vehicle 150, according to an embodiment of the present disclosure. Referring now to FIGs. 1 and 4A, at step 402, the ego vehicle 150 is moving in the third lane 103. At step 404, the average speeds of the second, third and fourth lanes 102, 103, 104 are determined. The second and fourth lanes 102, 104 are adjacent to the third lane 103. At step 406, it is checked if the average speeds of the second, third, and fourth lanes 102, 103, 104 are within a predetermined range of values. The predetermined range may be based on the current speed of the ego vehicle 150. If the condition at step 406 is positive, at step 408, the second, third and fourth lanes 102, 103, 104 are determined to be the designated one or more lanes for lane change of the ego vehicle 150. Further, at step 408, the lanes other than the second, third and fourth lanes 102, 103, 104 are designated as unsuitable lanes for travel for the ego vehicle 150, and the ego vehicle 150 is disallowed from changing lanes to the unsuitable lanes.

[0055] FIG. 4B illustrates a schematic flow diagram for a process 420 to determine lanes for lane change of the ego vehicle 150, according to another embodiment of the present disclosure. Referring now to FIGs. 1 and 4B, at step 422, the ego vehicle 150 is moving in the third lane 103. At step 424, the average speeds of the fourth, fifth and sixth lanes 104, 105, 106 are determined. At step 426, it is checked if the average speeds of the fourth, fifth and sixth lanes 104, 105, 106 are within a predetermined range of values. If the condition at step 426 is positive, at step 428, the fourth, fifth and sixth lanes 104, 105, 106 are determined to be the designated one or more lanes for lane change of the ego vehicle 150. Further, at step 428, the ego vehicle 150 is operated to move to any one of the fourth, fifth and sixth lanes 104, 105, 106. The process is repeated until the ego vehicle 150 moves to any one or the fourth, fifth and sixth lanes 104, 105, 106. Furthermore, at step 428, the lanes other than the second, third and fourth lanes 102, 103, 104 are designated as unsuitable lanes for travel for the ego vehicle 150, and the ego vehicle 150 is disallowed from changing lanes to the unsuitable lanes.

[0056] FIG. 4C illustrates a schematic flow diagram for a process 440 to determine lanes for lane change of the ego vehicle 150, according to another embodiment of the present disclosure. Referring now to FIGs. 1 and 4C, at step 442, the ego vehicle 150 is moving in the third lane 103. At step 444, the average speeds of all the lanes 101-106 are determined, and it is further determined that none of the lanes 101-106 have an average speed that is within the predetermined range of values. At step 446, the lane with the highest average speed value is determined (such as the sixth lane 106). At step 448, the sixth lane 106 is designated the lane for lane change. Further, at step 448, the lanes other than the sixth lane 106 are designated as unsuitable lanes for travel for the ego vehicle 150, and the ego vehicle 150 is disallowed from changing lanes to the unsuitable lanes.

[0057] FIG. 4D illustrates a schematic flow diagram for a process 460 to determine lanes for lane change of the ego vehicle 150, according to another embodiment of the present disclosure. Referring now to FIGs. 1 and 4D, at step 462, the ego vehicle 150 is moving in the third lane 103. At step 464, the average speeds of all the lanes 101-106 are determined, and it is further determined that none of the lanes 101-106 have an average speed that is within the predetermined range of values. At step 466, one or more lanes may be determined as designated lanes for lane change based on a look-up table. The look up table may be stored in the database 250. The look-up table may be user input. At step 468, lanes other than ones in look-up table are designated as unsuitable lanes for travel for the ego vehicle 150, and the ego vehicle 150 is disallowed from changing lanes to the unsuitable lanes.

[0058] FIG. 5 illustrates an exemplary schematic block diagram of a hardware platform for implementation of the computing device 202. As shown in FIG. 5, a computer system 500 can include an external storage device 510, a bus 520, a main memory 530, a read only memory 540, a mass storage device 550, communication port 560, and a processor 570. A person skilled in the art will appreciate that the computer system may include more than one processor and communication ports. Examples of processor 570 include, but are not limited to, an Intel® Itanium® or Itanium 2 processor(s), or AMD® Opteron® or Athlon MP® processor(s), Motorola® lines of processors, FortiSOC™ system on chip processors or other future processors. Processor 570 may include various modules associated with embodiments of the present invention. Communication port 560 can be any of an RS-232 port for use with a modem-based dialup connection, a 10/100 Ethernet port, a Gigabit or 10 Gigabit port using copper or fiber, a serial port, a parallel port, or other existing or future ports. Communication port 560 may be chosen depending on a network, such a Local Area Network (LAN), Wide Area Network (WAN), or any network to which computer system connects. Memory 530 can be Random Access Memory (RAM), or any other dynamic storage device commonly known in the art. Read-only memory 540 can be any static storage device(s) e.g., but not limited to, a Programmable Read Only Memory (PROM) chips for storing static information e.g., start-up or BIOS instructions for processor 570. Mass storage 550 may be any current or future mass storage solution, which can be used to store information and/or instructions. Exemplary mass storage solutions include, but are not limited to, Parallel Advanced Technology Attachment (PATA) or Serial Advanced Technology Attachment (SATA) hard disk drives or solid-state drives (internal or external, e.g., having Universal Serial Bus (USB) and/or Firewire interfaces), e.g. those available from Seagate (e.g., the Seagate Barracuda 7102 family) or Hitachi (e.g., the Hitachi Deskstar 7K1000), one or more optical discs, Redundant Array of Independent Disks (RAID) storage, e.g. an array of disks (e.g., SATA arrays), available from various vendors including Dot Hill Systems Corp., LaCie, Nexsan Technologies, Inc. and Enhance Technology, Inc.

[0059] Bus 520 communicatively couples processor(s) 570 with the other memory, storage, and communication blocks. Bus 520 can be, e.g., a Peripheral Component Interconnect (PCI) / PCI Extended (PCI-X) bus, Small Computer System Interface (SCSI), USB or the like, for connecting expansion cards, drives and other subsystems as well as other buses, such a front side bus (FSB), which connects processor 570 to software system.

[0060] Optionally, operator and administrative interfaces, e.g., a display, keyboard, and a cursor control device, may also be coupled to bus 520 to support direct operator interaction with a computer system. Other operator and administrative interfaces can be provided through network connections connected through communication port 560. The external storage device 510 can be any kind of external hard-drives, floppy drives, IOMEGA® Zip Drives, Compact Disc - Read Only Memory (CD-ROM), Compact Disc-Re-Writable (CD-RW), Digital Video Disk-Read Only Memory (DVD-ROM). Components described above are meant only to exemplify various possibilities. In no way should the aforementioned exemplary computer system limit the scope of the present disclosure.

[0061] It should be apparent to those skilled in the art that many more modifications besides those already described are possible without departing from the inventive concepts herein. The inventive subject matter, therefore, is not to be restricted except in the spirit of the appended claims. Moreover, in interpreting both the specification and the claims, all terms should be interpreted in the broadest possible manner consistent with the context. In particular, the terms “comprise” and “comprising” should be interpreted as referring to elements, components, or steps in a non-exclusive manner, indicating that the referenced elements, components, or steps may be present, or utilized, or combined with other elements, components, or steps that are not expressly referenced. Where the specification claims refer to at least one of something selected from the group consisting of A, B, C . . . .and N, the text should be interpreted as requiring only one element from the group, not A plus N, or B plus N, etc. The foregoing description of the specific embodiments will so fully reveal the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of preferred embodiments, those skilled in the art will recognize that the embodiments herein can be practiced with modification within the spirit and scope of the appended claims.

[0062] While the foregoing describes various embodiments of the invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof. The scope of the invention is determined by the claims that follow. The invention is not limited to the described embodiments, versions, or examples, which are included to enable a person having ordinary skill in the art to make and use the invention when combined with information and knowledge available to the person having ordinary skill in the art.

ADVANTAGES OF INVENTION

[0063] The present invention provides a system and method for determining lanes for lane change of a vehicle.

[0064] The present invention provides a system and method for minimizing a number of lane changes along a route of the vehicle.

[0065] The present invention provides a system and method for allowing the vehicle to maintain its speed through a duration of its journey.

Claims

We Claim:

1. A system (200) for determining lanes for lane change of an ego vehicle (150), the system (200) comprising: a computing device (202) comprising a processor (204) communicably coupled with a memory (206), the memory (206) storing instructions executable by the processor (204), the computing device (202) (202) configured to: receive an average speed of each lane out of a plurality of available lanes (101

- 106) for the ego vehicle (150); receive a current speed, a set speed of cruise control, and a current lane of the ego vehicle (150); and designate one or more lanes from the plurality of available lanes (101 - 106) as allowable for lane change for the ego vehicle (150), wherein the designated one or more lanes are determined based on at least the average speed and the location of the one or more lanes, and wherein the designated one or more lanes are indicative of a provision of a route for the ego vehicle (150) allowing the ego vehicle (150) is maintain a constant speed close to the set speed of cruise control for a maximum duration of time.

2. The system (200) as claimed in claim 1, wherein the computing device (202) is further configured to: designate the one or more lanes from the plurality of available lanes (101 - 106), such that the average speed of each of the one or more lanes is within a predetermined range of values, wherein the one or more lanes are adjacent to one another, and wherein the predetermined range of values is defined as a range of values close to the set speed of cruise control of the ego vehicle.

3. The system (200) as claimed in claim 2, wherein the designated one or more lanes comprise the current lane of the ego vehicle (150).

4. The system (200) as claimed in claim 3, wherein the computing device (202) is further configured to: disallow the ego vehicle (150) from changing lanes from the designated one or more lanes to any lane from the plurality of available lanes (101 - 106) outside of the designated one or more lanes.

5. The system (200) as claimed in claim 2, wherein the designated one or more lanes comprise lanes other than the current lane of the ego vehicle (150).

6. The system (200) as claimed in claim 5, wherein the computing device (202) is further configured to: allow the ego vehicle (150) to change lanes from the current lane of the ego vehicle (150) to any of the designated one or more lanes; and responsive to the ego vehicle (150) changing lanes to any one of the designated one or more lanes, disallow the ego vehicle (150) from changing lanes from the designated one or more lanes to any lane from the plurality of available lanes (101 - 106) outside of the designated one or more lanes.

7. The system (200) as claimed in claim 1, wherein the designated one or more lanes comprise a lane from the plurality of available lanes (101 - 106) for the ego vehicle (150) having a highest value of average speed.

8. The system (200) as claimed in claim 1, wherein the designated one or more lanes comprises the plurality of available lanes (101 - 106) for the ego vehicle (150).

9. A method (300) for determining lanes for lane change of an ego vehicle (150), the method (300) comprising: receiving (302), at a computing device (202), an average speed of each lane out of a plurality of available lanes (101 - 106) for the ego vehicle (150); receiving (304), at the computing device (202), a current speed, a set speed of cruise control, and a current lane of the ego vehicle (150); and designating (306), at the computing device (202), one or more lanes from the plurality of available lanes (101 - 106) as allowable for lane change for the ego vehicle (150), wherein the one or more lanes are determined based on at least the average speed and the location of the one or more lanes, and wherein the one or more lanes are indicative of a provision of a route for the ego vehicle (150) allowing the ego vehicle (150) is maintain a constant speed close to the set speed of cruise control for a maximum duration of time. A vehicle configured to determine lanes for lane change based on a receipt of a signal, said signal transmitted from a computing device (202), the computing device (202) configured to: receive, at a processor (204) of the computing device (202), an average speed of each lane out of a plurality of available lanes (101 - 106) for the ego vehicle (150); receive, at the processor (204) of the computing device (202), a current speed, a set speed of cruise control, and a current lane of the ego vehicle (150); and designate, at the processor (204) of the computing device (202), one or more lanes from the plurality of available lanes (101 - 106) as allowable for lane change for the ego vehicle (150), wherein the one or more lanes are determined based on at least the average speed and the location of the one or more lanes, and wherein the one or more lanes are indicative of a provision of a route for the ego vehicle (150) allowing the ego vehicle (150) is maintain a constant speed close to the set speed of cruise control for a maximum duration of time.