A predicted path based on a planned lane change manoeuvre can be displayed (step 1802), typically including a predicted position at an end of the manoeuvre, and the lane change manoeuvre can be executed (step 1804). While the manoeuvre is being executed, the predicted path display is updated based on the manoeuvre, for example a change in the predicted path (steps 1806, 1810, 1812) which may be based on input from a steering wheel to determine occupant intent. The update may involve determining a virtual steering path polynomial which may be based on Bézier curves and which may incorporate lateral acceleration constraints. The manoeuvre may be determined in part by adapting a trajectory to traffic in an adjacent lane.
Real time lane change display
2018-11-21
Patent
Electronic Resource
English