Detecting low-speed close-range vehicle cut-in

{
  "publication_number": "US9746550B2",
  "country": "US",
  "kind": "B2",
  "title": "Detecting low-speed close-range vehicle cut-in",
  "abstract": "A vehicle system includes an input device interface and a processing device. The input device interface receives a radar signal. The processing device defines a region of interest between a host vehicle and a front vehicle, detects that a potential cut-in vehicle has entered the region of interest, and selects the potential cut-in vehicle as the new front vehicle. The vehicle system may be incorporated into an autonomous or partially autonomous vehicle.",
  "claims": [
    "1. A vehicle system comprising: an input device interface configured to receive a radar signal; a processing device programmed to define a region of interest between a host vehicle and an initial front vehicle, detect a potential cut-in vehicle in the region of interest, select the potential cut-in vehicle as a new front vehicle based at least in part on whether the potential cut-in vehicle is slowing down; and an autonomous mode controller programmed to autonomously control the host vehicle according to the new front vehicle.",
    "2. The vehicle system of claim 1, wherein the processing device is programmed to detect the initial front vehicle from the radar signal.",
    "3. The vehicle system of claim 1, wherein the processing device is programmed to define the region of interest based at least in part on a location of the initial front vehicle relative to the host vehicle.",
    "4. The vehicle system of claim 1, wherein the processing device is programmed to detect the potential cut-in vehicle from the radar signal.",
    "5. The vehicle system of claim 1, wherein the processing device is programmed to select the potential cut-in vehicle as the new front vehicle based on a speed of the potential cut-in vehicle.",
    "6. The vehicle system of claim 1, wherein the processing device is programmed to select the potential cut-in vehicle as the new front vehicle based on whether the potential cut-in vehicle is moving or stationary.",
    "7. The vehicle system of claim 1, further comprising a trigger module programmed to output a trigger signal, wherein the processing device is programmed to select the potential cut-in vehicle as the new front vehicle in accordance with the processing device receiving the trigger signal.",
    "8. The vehicle system of claim 7, wherein the trigger module is programmed to output the trigger signal if a speed of the host vehicle is below a predetermined threshold.",
    "9. The vehicle system of claim 7, wherein the trigger module is programmed to output the trigger signal if a distance between the front vehicle and the host vehicle is below a predetermined threshold.",
    "10. A vehicle system comprising: a radar system configured to output a radar signal representing an initial front vehicle and a potential cut-in vehicle; an input device interface configured to receive the radar signal; a processing device programmed to detect the initial front vehicle and the potential cut-in vehicle from the radar signal, define a region of interest between a host vehicle and the initial front vehicle, detect that the potential cut-in vehicle has entered the region of interest, select the potential cut-in vehicle as a new front vehicle based at least in part on whether the potential cut-in vehicle is slowing down; and an autonomous mode controller programmed to autonomously control the host vehicle according to the new front vehicle.",
    "11. The vehicle system of claim 10, wherein the processing device is programmed to select the potential cut-in vehicle as the new front vehicle based on a speed of the potential cut-in vehicle.",
    "12. The vehicle system of claim 10, wherein the processing device is programmed to select the potential cut-in vehicle as the new front vehicle based on whether the potential cut-in vehicle is moving or stationary.",
    "13. The vehicle system of claim 10, further comprising a trigger module programmed to output a trigger signal, wherein the processing device is programmed to select the potential cut-in vehicle as the new front vehicle in accordance with the processing device receiving the trigger signal.",
    "14. The vehicle system of claim 13, wherein the trigger module is programmed to output the trigger signal if a speed of the host vehicle is below a predetermined threshold.",
    "15. The vehicle system of claim 13, wherein the trigger module is programmed to output the trigger signal if a distance between the initial front vehicle and the host vehicle is below a predetermined threshold.",
    "16. A method comprising: receiving a radar signal representing an initial front vehicle and a potential cut-in vehicle; defining a region of interest between a host vehicle and the initial front vehicle; detecting that the potential cut-in vehicle has entered the region of interest and is slowing down; selecting the potential cut-in vehicle as a new front vehicle as a result of detecting that the potential cut-in vehicle is slowing down; and autonomously controlling the host vehicle according to the new front vehicle.",
    "17. The method of claim 16, wherein selecting the potential cut-in vehicle as a new front vehicle includes determining whether the potential cut-in vehicle is slowing down, whether the potential cut-in vehicle is moving, and whether the potential cut-in vehicle is stationary.",
    "18. The method of claim 16, further comprising receiving a trigger signal prior to selecting the potential cut-in vehicle as the new front vehicle, wherein the trigger signal is received if a speed of the host vehicle is below a predetermined threshold and if a distance between the initial front vehicle and the host vehicle is below a predetermined threshold."
  ],
  "description_excerpt": "Autonomous and partially autonomous vehicles assume certain driving-related tasks from the person who would otherwise drive the vehicle. Various sensor systems allow the autonomous vehicle to detect other cars, infrastructure, pedestrians, or the like. Autonomous and partially autonomous vehicles process the outputs of the sensor systems to operate the vehicle as if it were being driven by a human.\n\nFIG. 1 illustrates an example autonomous vehicle with a system for detecting low-speed, close-range vehicle cut-ins.\n\nFIG. 2 is a block diagram of an example vehicle system that may be used in the autonomous vehicle of FIG. 1.\n\nFIG. 3 illustrates a view from a host vehicle during a potential vehicle cut-in.\n\nFIG. 4 illustrates a view from a host vehicle during another potential vehicle cut-in.\n\nFIG. 5 is a flowchart of an example process that may be executed by the vehicle system of FIG. 2 to detect low-speed, close-range vehicle cut-ins.\n\nWhile autonomous and partially autonomous vehicles attempt to mimic human behavior, certain circumstances that sometimes occur when operating a vehicle are difficult to emulate. For example, it is difficult for on-board vehicle cameras to detect a close range cut-in vehicle - that is, a vehicle that is attempting to enter the autonomous vehicle's lane between the autonomous vehicle and a front vehicle at a very short distance. Cut-in situations occur frequently when driving in populated areas but can be problematic for autonomous vehicles at low speeds whether the autonomous vehicle is equipped with a camera, radar, or both.",
  "cpc": [
    "G01S 13/04",
    "B60W 30/0956",
    "B60W 30/16",
    "B60W 30/18163",
    "G01S 13/931",
    "G08G 1/161",
    "G08G 1/166"
  ],
  "ipc": [
    "G01S 13/04",
    "G01S 13/931"
  ],
  "assignees": [
    "Ford Global Technologies LLC"
  ],
  "inventors": [
    "Nitendra Nath",
    "Aaron L. Mills"
  ],
  "filing_date": "2014-10-08",
  "publication_date": "2017-08-29",
  "grant_date": "2017-08-29",
  "priority_date": "2014-10-08",
  "application_number": "US-201414509348-A",
  "family_id": "55130753",
  "cited_by_count": 153,
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}