Embodiments herein include systems and methods of generating lane selection cost values to control autonomous vehicles to accommodate merging vehicles in a tapering lane (or merge lane). An autonomy system can identify a tapering lane in map data and detect a merging vehicle situated in the tapering lane using perception sensor data. The autonomy system includes a lane-selection cost function that generates lane-selection cost values for the lanes available to the automated vehicle, which the autonomy system references to determine whether to continue traveling a current lane or change lanes into an adjacent lane. The lane-selection cost function may apply a courtesy weight when detecting the merging vehicle, such that the autonomy system causes the automated vehicle to change lanes as a courtesy to the merging vehicle, but without overriding other safety-related factors of the lane-selection cost function or trajectory planning functions.


    Access

    Download


    Export, share and cite



    Title :

    COURTESY LANE SELECTION PARADIGM


    Contributors:

    Publication date :

    2025-02-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



    COURTESY LANE SELECTION PARADIGM

    SHOEMAKER ADAM / BLANKENHORN JOHN / MADSEN GARRETT et al. | European Patent Office | 2025

    Free access

    COURTESY LAMP AND COURTESY LOGO LAMP

    ISEKI KOTA / DINH DONG VAN | European Patent Office | 2018

    Free access

    Courtesy lamp and courtesy logo lamp

    ISEKI KOTA / DINH DONG VAN | European Patent Office | 2019

    Free access

    Courtesy Flag

    OLDS KIM | European Patent Office | 2020

    Free access

    Driver courtesy

    DIEP MINH QUANG | European Patent Office | 2024

    Free access