TECHNICAL FIELD

[0001] The present disclosure relates to systems and methods facilitating advanced driver-assistance system (ADAS) in a vehicle. In particular, the present disclosure provides a system and method for executing lane change decision in a vehicle.

BACKGROUND

[0002] Advanced Driver Assistance Systems (ADAS) assists drivers in driving safely, increases comfort of driving and road safety. Therefore, ADAS feature in vehicles is becoming increasingly important in terms of safety and comfort for the users. For the ADAS features to function efficiently, it is very essential to know with high confidence where the ego vehicle is on the road, also referred to as localization. Therefore, localization of vehicle is an important component of an ADAS system. Localization is the estimating, using sensors configured with an ego and map of the environment, of ego vehicle’s ego lane on the road.

[0003] Typically, detection of lane attributes is done by sensors which can include stereo multi-purpose camera (SMPC), light detection and ranging (LiDAR), long range radar (LRR), multi-mode radar (MMR), or any combination of these. However, sensors have limited coverage area and therefore, ADAS relies on maps as well for accurate positioning of the ego vehicle.

[0004] In self driving vehicles, the system initiates lane change based on the maps. However, in such cases, it becomes very unconformable for driver of the ego vehicle, if the system does lane change to a closing lane when lane connectivity information is missing.

[0005] Various techniques have been implemented for avoiding such issues, for instance, Patent document US10847029B2 discloses a method and system for automatic road closure detection which involves an approach for automatic road closure detection. The approach involves designating a dynamic time window comprising one or more time epochs ending before a current time epoch. The approach also involves retrieving a first set of probe data collected from a road link during the dynamic time window. The approach further involves adjusting a size of the dynamic time window by adding or removing another time epoch ending before the current time epoch until at least one criterion related to the probe data, the dynamic time window, or a combination thereof is met. The approach further involves extracting a plurality of features from the first set of probe data, from a second set of probe data collected from the road link during the current time epoch, or a combination thereof. The approach then involves detecting a closure status of the road link based on the plurality of features.

[0006] Patent document US20200393261 Al discloses a method and a system for updating maps based on lane closure and lane opening. The method and system involves receiving sensor data from a sensor of an autonomous vehicle; determining a presence of a lane closure object located on a lane element; and determining a change of the lane closure object, selected from the presence of the lane closure object or absence of the lane closure object on the lane element. Further, it involves generating a change candidate based on the change in the lane closure object; and obtaining a plurality of the change candidates during a time period or the autonomous vehicle being on a preceding lane element on the route. Furthermore, it involves analyzing the plurality of change candidates for the change being the presence of the lane closure object or the absence of the lane closure object on the lane element; generating a final change candidate based on the change; and providing the final change candidate for updating a high definition map of the route having the lane element.

[0007] Patent document US20220081005A1 discloses a system and a method for detecting a road closure by a lead autonomous vehicle (AV) and updating routing plans for said AV. The lead autonomous vehicle (AV) includes a sensor configured to observe a field of view in front of the lead AV. A processor of the lead AV is configured to detect a road closure. The processor overrides driving instructions of the lead AV, such that the lead AV is stopped at first location coordinates. The processor sends a first message to an operation server, indicating that the road closure is detected. The operation server update the first portion of the map data, reflecting the road closure. The operation server determines whether re-routing is possible for each AV. If re-routing is possible is possible for that AV, the operation server sends re-routing instructions to the AV. If re-routing is not possible is possible forthat AV, the operation server sends pulling over instructions to the AV.

[0008] While the cited references disclose different techniques for executing lane change decision in case of lane closure, however, there is a possibility of providing more efficient and reliable system.

[0009] There is, therefore, a need to provide an efficient solution that can provide a reliable and efficient lane change execution mechanism in case of lane closure.

OBJECTS OF THE PRESENT DISCLOSURE

[0010] A general object of the present disclosure is to provide a system and method that provides a reliable and efficient lane change execution mechanism. [0011] An object of the present disclosure is to provide a system and method that carries out lane change execution in case of lane closure.

[0012] Another object of the present disclosure is to provide a system and method that takes into consideration other vehicles present in the vicinity of ego vehicle while carrying out the lane change execution.

[0013] Another object of the present disclosure is to provide a system and method that enhances safety of the vehicle.

SUMMARY

[0014] Aspects of the present disclosure relates to systems and methods facilitating advanced driver-assistance system (ADAS) in a vehicle. In particular, the present disclosure provides a system and method for executing lane change decision in a vehicle.

[0015] An aspect of the present disclosure pertains to a system for executing lane change decision implemented in an ego vehicle. The system comprising: one or more detectors, positioned at pre-defined positions on the ego vehicle, configured to monitor a track on which the ego vehicle is running, wherein the track comprises one or more lanes; and a lane change estimator operatively coupled to the one or more detectors, the lane change estimator comprising on or more processors coupled to a memory storing instructions executable by the processor, the lane change estimator configured to: receive, from the one or more detectors, data pertaining to the monitored track; determine, from the received data, ego lane and adjacent lanes present on the track; and detect narrowing of the track, by identifying lane closure, on the track, in any of the ego lane and the adjacent lanes, and correspondingly trigger a lane change signal.

[0016] In an aspect, the one or more detectors comprise a navigation unit and a stereo multipurpose camera (SMPC).

[0017] In another aspect, the navigation unit may be configured to provide a real-time map pertaining to number of lanes, wherein the system may detect the narrowing of the track based on variation in the number of lanes.

[0018] In another aspect, the SMPC may be configured to detect lane closure sign board present on the track, and wherein the system may detect the narrowing of the track based on the detected lane closure sign board.

[0019] In an aspect, the system may be configured to fuse data received from the navigation unit with data received from the SMPC, and correspondingly derive lane closure along with its direction. [0020] In an aspect, the system may consider only those lanes, present on the track, whose length exceed a pre-defined minimum length.

[0021] Another aspect of the present disclosure pertains to the proposed method that may facilitate executing lane change decision in an ego vehicle. The method may include the steps of: monitoring, through one or more detectors positioned at pre-defined positions on the ego vehicle, a track on which the ego vehicle is running, wherein the track comprises one or more lanes; receiving, at a lane change estimator operatively coupled to the one or more detectors, data pertaining to the monitored track; determining, at the lane change estimator, ego lane and adjacent lanes present on the track from the received data; and detecting narrowing of the track, by identifying lane closure, on the track, in any of the ego lane and the adjacent lanes, and correspondingly triggering a lane change signal.

[0022] In an aspect, the one or more detectors comprise a navigation unit and a stereo multipurpose camera (SMPC), wherein, the method may comprise the steps of providing, through the navigation unit, a real-time map pertaining to number of lanes; and detecting, through the lane change estimator, the narrowing of the track based on variation in the number of lanes.

[0023] In another aspect, the method may comprise the steps of detecting, through the SMPC, lane closure sign board present on the track; and fusing data received from the navigation unit with data received from the SMPC, and correspondingly deriving lane closure along with its direction.

[0024] In yet another aspect, the method may comprise considering only those lanes, present on the track, whose length exceed a pre-defined minimum length.

[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 THE 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 an exemplary network architecture of the proposed system for executing lane change decision, to illustrate its overall working, in accordance with an embodiment of the present disclosure. [0028] FIG. 2 illustrates exemplary functional units of processing unit of the proposed system, in accordance with an exemplary embodiment of the present disclosure.

[0029] FIG. 3 illustrates an exemplary flow diagram representing steps involved in performing lane change decision by the proposed system, in accordance with an exemplary embodiment of the present disclosure.

[0030] FIG. 4 illustrates an exemplary flow chart representing lane closure detection by SMPC, in accordance with an exemplary embodiment of the present disclosure.

[0031] FIG. 5A illustrates an exemplary diagram depicting decision taken when lane closure is detected with direction, in accordance with an exemplary embodiment of the present disclosure.

[0032] FIG. 5B illustrates an exemplary diagram depicting decision taken when lane closure is detected without direction, in accordance with an exemplary embodiment of the present disclosure.

[0033] FIG. 6 illustrates a flow chart representing stepwise functioning of the proposed system, in accordance with an exemplary embodiment of the present disclosure.

[0034] FIG. 7 illustrates a flow diagram representing steps of the proposed method for executing lane change decision, in accordance with an embodiment of the present disclosure.

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 disclosures as defined by the appended claims.

[0036] Embodiments explained herein relate to systems and methods facilitating advanced driver-assistance system (ADAS) in a vehicle. In particular, the present disclosure provides a system and method for executing lane change decision in a vehicle.

[0037] Referring to FIG. 1, the proposed system 100 (interchangeably, referred to as system 100, hereinafter) can be implemented within a vehicle, whereby it can facilitate decision making with respect to lane change in the vehicle, and can enable its execution. Further, the system can make decision regarding lane change even when lane connectivity is missing.

[0038] In an embodiment, the system 100 can include one or more detectors, which can be positioned at pre-defined positions on the ego vehicle. Further, the one or more detectors can be configured to monitor a track on which the ego vehicle is running, wherein the track may include one or more lanes. Further, data pertaining to the monitored track can be transmitted from the one or more detectors. In an exemplary embodiment, the one or more detectors can include a Stereo Multi-Purpose Camera (SMPC) 102 and a navigation system 104.

[0039] In one embodiment, the navigation unit 104 can be configured to provide a realtime map pertaining to number of lanes, wherein the system 100 may detect the narrowing of the track based on variation in the number of lanes. In an exemplary embodiment, the real-time map can be standard definition (SD) map.

[0040] In other embodiment, the SMPC 102 can be configured to detect lane closure sign board present on the track, and correspondingly the system 100 can detect the narrowing of the track based on the detected lane closure sign board.

[0041] Further, the system 100 can be configured to fuse data received from the navigation system 104 (also, referred to as navigation unit 104, herein) along with data received from the SMPC 102. In an embodiment, the system 100 can derive lane closure along with its direction on the basis of the fused data.

[0042] According to an embodiment, the system 100 can include a lane change estimator 106, which can be operatively coupled to the one or more detectors. In an exemplary embodiment, the lane change estimator 106 can include one or more processors coupled to a memory storing instructions executable by the processor. In another exemplary embodiment, the lane change estimator 106 can be implemented on a suitable position inside the ego vehicle. For instance, the lane change estimator 106 can be implemented along with an engine of the ego vehicle.

[0043] In an embodiment, the lane change estimator 106 can be configured to receive data pertaining to the monitored track, which is being transmitted from the one or more detectors. Further, the lane change estimator 106 can be configured to determine ego lane and adjacent lanes present on the track from the received data.

[0044] In an embodiment, the lane change estimator 106 can be configured to detect narrowing of the track, by identifying lane closure on the track. The lane change estimator 106 can identify lane closure in any of the ego lane and the adjacent lanes, and correspondingly the system 100 can trigger a lane change signal.

[0045] In one embodiment, the system 100 may consider, for detecting narrowing of the track, only those lanes present on the track, whose length exceed a pre-defined minimum length. Other lanes can be considered as redundant by the system 100. [0046] According to an embodiment, the system 100 can include a display unit (not shown) that may be operatively coupled to the lane change estimator 106, and can be configured to display the track as well as the lane on which the ego vehicle is running and the lane change decision executed by the system 100. Further, the display unit can be in form of a LED display board, GUI module, etc. In another embodiment, a personal laptop, smartphone, tablet, or any other such mobile computing device can be coupled to the system 100, which can act as the display unit.

[0047] In an embodiment, using one or more lane events, the system 100 can detect narrowing of a lane. For example, if the number of lanes goes from 4 to 3, then the system 100 may determine that the lane is closing. In one embodiment, through the above process, the proposed system 100 is able to detect lane closure without direction. In other embodiment, in case the SMPC 102 (also, referred to as TSR 102, herein) can detect lane closure sign, the system 100 may obtain the direction of lane change from the detected lane closure sign. Therefore, with all this information the system 100 may be able to avoid the ego vehicle going to closing lane and also making a lane change when driving lane, i.e., lane on which the ego vehicle is being drived, is closing.

[0048] According to an embodiment, the lane change estimator 106 can be in communication with the SMPC 102, the navigation system 104, and the display unit, through a network 110. Further, the network 110 can be a wireless network, a wired network or a combination thereof that can be implemented as one of the different types of networks, such as Intranet, Local Area Network (LAN), Wide Area Network (WAN), Internet, and the like.

[0049] Further, the network 110 can either be a dedicated network or a shared network. The shared network can represent an association of different types of networks that can use variety of protocols, for example, Hypertext Transfer Protocol (HTTP), Transmission Control Protocol/Intemet Protocol (TCP/IP), Wireless Application Protocol (WAP), and the like.

[0050] In an embodiment, the system 100 can be implemented using any or a combination of hardware components and software components such as a cloud, a server 108, a computing system, a computing device, a network device and the like. Further, the lane change estimator 106 can interact with other components of the system 100, through a website or an application that can reside in the proposed system 100. In an implementation, the system 100 can be accessed by website or application that can be configured with any operating system, including but not limited to, Android™, iOS™, and the like.

[0051] Referring to FIG. 2, exemplary functional units of the lane change estimator 106 can include one or more processor(s) 202. The processor(s) 202 can be implemented as one or more microprocessors, microcomputers, microcontrollers, digital signal processors, central processing units, logic circuitries, and/or any devices that manipulate data based on operational instructions. Among other capabilities, the processor(s) 202 are configured to fetch and execute computer-readable instructions stored in a memory 204 of the lane change estimator 106. The memory 204 can store one or more computer-readable instructions or routines, which may be fetched and executed to create or share the data units over a network service. The memory 204 can include any non-transitory storage device including, for example, volatile memory such as RAM, or non-volatile memory such as EPROM, flash memory, and the like.

[0052] In an embodiment, the lane change estimator 106 can also include an interface(s) 206. The interface(s) 206 may include a variety of interfaces, for example, interfaces for data input and output devices, referred to as I/O devices, storage devices, and the like. The interface(s) 206 may facilitate communication of the lane change estimator 106 with various devices coupled to the lane change estimator 106. The interface(s) 206 may also provide a communication pathway for one or more components of the lane change estimator 106. Examples of such components include, but are not limited to, processing engine(s) 208 and database 210.

[0053] In an embodiment, the processing engine(s) 208 can be implemented as a combination of hardware and programming (for example, programmable instructions) to implement one or more functionalities of the processing engine(s) 208. In examples described herein, such combinations of hardware and programming may be implemented in several different ways. For example, the programming for the processing engine(s) 208 may be processor executable instructions stored on a non-transitory machine-readable storage medium and the hardware for the processing engine(s) 208 may include a processing resource (for example, one or more processors), to execute such instructions. In the present examples, the machine-readable storage medium may store instructions that, when executed by the processing resource, implement the processing engine(s) 208.

[0054] In such examples, the lane change estimator 106 can include the machine- readable storage medium storing the instructions and the processing resource to execute the instructions, or the machine-readable storage medium may be separate but accessible to the system 100 and the processing resource. In other examples, the processing engine(s) 208 may be implemented by electronic circuitry. The database 210 can include data that is either stored or generated as a result of functionalities implemented by any of the components of the processing engine(s) 208. In an embodiment, the processing engine(s) 208 can include a determining unit 212, a fusing unit 214, and other units(s) 216. The other unit(s) 216 can implement functionalities that supplement applications/ functions performed by the lane change estimator 106.

[0055] According to an embodiment, the determining unit 212 can obtain number of lanes along horizon through corresponding SD map (also, referred to as HU Map, herein) associated with the navigation unit 104. In an embodiment, firstly, the determining unit 212 can determine entry and exit lane based on the pre-defined minimum length, and correspondingly the system 100 can exclude entry and exit lane from number of lanes along the horizon. In an exemplary embodiment, all those lanes whose length is less than the predefined minimum length can be considered as entry or exit lane/ ramp based on its location.

[0056] In an embodiment, the determining unit 212 can determine and detect lane narrowing along the horizon. Further, the system 100 can obtain direction of lane closing from the SMPC 102.

[0057] According to another embodiment, if direction of lane closing is detected from the SMPC, then the fusing unit 214 can fuse it with the detected lane narrowing. Further, determining unit 212 can determine lane closure with direction as well as lane closure without direction, where determination of the lane closure with or without direction influences lane change decision for the ego vehicle.

[0058] Referring to FIG. 3, at block 302, the system 100 can obtain number of lanes along horizon through HU Map associated with the navigation unit 104. In an embodiment, at block 304, the system 100 can exclude entry and exit lane/ ramp from the number of lanes along the horizon. In an exemplary embodiment, all those lanes whose length is less than the pre-defined minimum length (also, referred to as threshold distance, herein) can be considered as entry or exit ramp based on its location.

[0059] In an embodiment, at block 306, the system 100 can detect lane narrowing along the horizon. In another embodiment, at block 308, the system 100 can obtain direction of lane closing from the SMPC 102 (also, referred to as TSR 102, herein).

[0060] In one embodiment, at block 310, if direction of lane closing is detected from the SMPC, the system 100 can fuse it with the detected lane narrowing. Further, at block 312, the system 100 can determine lane closure with direction, whereas, at block 314, the system 100 can determine lane closure without direction.

[0061] In an embodiment, determination of the lane closure with or without direction can influence lane change decision, which is carried out at block 316.

[0062] In an exemplary embodiment, firstly, the system 100 can determine the lane/ track on which the ego vehicle is driving. Moreover, using lane profile from HU map the system 100 may get information about number of lanes on the track. For instance, at a given section up to 8 kilometre (km), when the systemlOO identifies lane narrowing, i.e, when number of lane decreases from one section to other. With this mechanism, the system 100 can get lane closure without direction.

[0063] Further, if the TSR is able to detect lane closure sign board, the system 100 can fuse said information with lane narrowing, and then can get direction of lane closing.

[0064] In an embodiment, using the above information, a decision is made by the lane change estimator, where in case direction of lane is known then the system 100 may make decision to change lane if the driving lane is closing and avoid the ego vehicle from going towards the closing lane. However, in case direction of lane is not unknown, the system 100 can choose safest lane to avoid getting into the closing lane. For example, on a 3 lane road when direction of closing is not known, the system 100 can give direction to the ego vehicle to stay on center lane.

[0065] Referring to FIG. 4, in case of lane closure detection through the SMPC 102, firstly the system 100 checks, at block 402, whether all sign detections are processed, if so then loop is ended at block 408, and the lane closure can be detected along with direction.

[0066] In one embodiment, if the system 100 finds that all sign detections are not processed, then, at block 404, the system 100 checks if the sign detection is equal to lane closure left, i.e., if the sign detection pertains to the lane closure at left, if so then the lane closure left is detected, at block 410, by the system 100.

[0067] In other embodiment, if the system 100 finds that the sign detection is not equal to lane closure left, then, at block 406, the system 100 checks if the sign detection is equal to lane closure right, i.e., if the sign detection pertains to the lane closure at right, if so then the lane closure right is detected, at block 412, by the system 100.

[0068] In other embodiment, if the system 100 finds that the sign detection is not equal to lane closure right also, then the system 100 again 100 checks, at the block 402, whether all the sign detections are processed.

[0069] Referring to FIG. 5 A, in case the lane closure is detected with direction, the system 100 firstly checks if the ego vehicle (also, referred to as ego, herein) is driving on closing lane, if so the system 100 can direct the ego vehicle to perform lane change (also, referred to as LC, herein). Further, the system 100 firstly checks if any of the lanes next to the driving lane/ ego lane (also, referred to as ego neighbour, herein) is closing, the system 100 instructs the ego vehicle not to perform lane change to said lane. [0070] Referring to FIG. 5B, in case the lane closure is detected without direction, the system 100 can choose itself or it can let a driver of the ego vehicle to choose a safe lane. In an exemplary embodiment, the system 100 can choose a safe lane only on a track/ road having 3 lanes and above. In general, it is preferred not to drive on outer lanes or perform a lane change to the outer lanes.

[0071] Referring to FIG. 6, at block 602, the system 100 can check if number of lanes in driving direction, i.e., direction in which the ego lane is being drived is more than or equal to three. In one embodiment, in case the number of lanes in driving direction is found to be more than or equal to three, then at block 604, the system 100 confirms if lane closure is found. In other embodiment, in case the number of lanes in driving direction is not found to be more than or equal to three, then at block 608, the driver of the ego vehicle can take control.

[0072] In an embodiment, if the lane closure is found, then at block 606, the system 100 can confirm if direction of the lane closure is found. In case, the direction of the lane closure is not found then at block 610, the system 100 can check whether the ego vehicle is on any of the left most or right most lane.

[0073] In an embodiment, if the ego vehicle is found to be on any of the left most or right most lane, then at the block 608, the system 100 can allow the driver of the ego vehicle to take control. In another embodiment, if the ego vehicle is not found to be on any of the left most or right most lane, then at block 612, the system 100 can block the lane change to left most or right most lane.

[0074] In an embodiment, if at the block 606, direction of the lane closure is found, then at block 614 the mechanism as described in the FIG. 5 A (Use Case 1) can be executed.

[0075] In first exemplary embodiment, if the ego vehicle is running on a 3 lane road, and that too on the left most lane, which is closing. In such a case, the system 100 can direct the ego vehicle to perform a lane change to right lane, if the direction is known.

[0076] In second exemplary embodiment, if the ego vehicle is running on a 3 lane road, and that too on the left most lane. Further, there is a lane closure on right, then in such a case, the system 100 can direct the ego vehicle to not perform any lane change to right lane since the ego lane is not closing.

[0077] In third exemplary embodiment, if the ego vehicle is running on middle lane of a 3 lane road, and further, there is a lane closure on right, then in such a case, the system 100 can forbid the lane change to right lane if the direction of the lane closure is known. However, if the direction of the lane closure is not known, then the system 100 can direct the ego vehicle to not perform any lane change in any lane of either direction. [0078] Therefore, the system 100 may avoid the ego vehicle from going into closing lane when lane connectivity information is missing.

[0079] Referring to FIG. 7, the proposed method 700 (also, referred to as method 700, herein) can facilitate executing lane change decision for an ego vehicle. In an embodiment, the method 700 can include monitoring, at block 702, through one or more detectors positioned at pre-defined positions on the ego vehicle, a track on which the ego vehicle is running, wherein the track can include one or more lanes.

[0080] In other embodiment, the method 700 can include receiving, at block 704, at a lane change estimator operatively coupled to the one or more detectors, data pertaining to the monitored track. In another embodiment, the method 700 can include determining, at block 706, at the lane change estimator, ego lane and adjacent lanes present on the track from the received data. In yet another embodiment, the method 700 can include detecting, at block 708, narrowing of the track, by identifying lane closure, on the track, in any of the ego lane and the adjacent lanes, and correspondingly triggering a lane change signal.

[0081] In an embodiment, the one or more detectors can include a navigation unit and a stereo multi-purpose camera (SMPC), wherein the method 700 can include providing, through the navigation unit, a real-time map pertaining to number of lanes; then detecting, through the SMPC, lane closure sign board present on the track; and finally fusing data received from the navigation unit with data received from the SMPC, and correspondingly deriving lane closure along with its direction.

[0082] In an embodiment, the method 700 can also include considering only those lanes, present on the track, whose length exceed a pre-defined minimum length.

[0083] 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 THE PRESENT DISCLOSURE

[0084] The present disclosure provides a system and method that provides a reliable and efficient lane change execution mechanism.

[0085] The present disclosure provides a system and method that carries out lane change execution in case of lane closure. [0086] The present disclosure provides a system and method that enhances safety of the vehicle.