Patent Description:
Autonomous and semi-autonomous vehicles (e.g., host vehicles) are becoming more common. Such vehicles may employ sophisticated sensors (e.g., camera sensors, radar sensors, light detection and ranging (LiDAR) sensors) and systems (e.g., adaptive cruise control (ACC) systems, automatic emergency braking (AEB) systems) that make or assist a driver in making driving maneuvers based on targets (e.g., other vehicles, pedestrians, stationary objects) in the environment of these vehicles. Targets directly in front of a host vehicle are generally prioritized over targets that are ahead but not directly in front of the host vehicle. In some driving situations (e.g., a curved roadway), it may be preferable to prioritize a target that is ahead of the host vehicle but not directly in front of the host vehicle.

<CIT> discloses a system for evaluating the traffic environment of a motor vehicle and for influencing the speed of the motor vehicle in its own traffic lane.

The present invention provides a system, a computer-readable storage media and a method according to the independent claims. Embodiments are given in the subclaims, the description and the drawings.

When a host vehicle transitions from a roadway to a ramp, a quantity of lanes of the ramp is determined from a map stored in a driving system of the host vehicle. If there are multiple lanes, then a standard driving scheme may be employed. This standard driving scheme may prioritize a target directly in front of the host vehicle to be a target of interest. However, if the ramp has a single lane, a first target leading the host vehicle, but not necessarily directly in front of the host vehicle is determined to be the target of interest. Driving systems, such as adaptive cruise control, may base driving decisions on the target of interest. By determining the target of interest in this manner, uncertainty due to predictions and complexity of calculations may be reduced.

In one aspect, a system includes at least one processor configured to determine if a host vehicle is traveling on a ramp of a roadway, the ramp being an on-ramp or an off-ramp. The at least one processor is further configured to responsive to determining that the host vehicle is traveling on the ramp, determine a quantity of lanes of the ramp. The at least one processor is further configured to select, based on the quantity of lanes of the ramp, a target selection scheme from among two or more potential selection schemes to be used to track targets while the host vehicle is on the ramp. The at least one processor is further configured to determine, based on the selected target selection scheme, a target of interest leading the host vehicle on the ramp. The at least one processor is further configured to execute, based on the target of interest, one or more driving maneuvers of the host vehicle that assist in avoiding the target of interest.

These and other described techniques may be performed by hardware or a combination of hardware and software executing thereon. For example, a computer-readable storage media (CRM) may have instructions stored thereon and that when executed configure a processor to perform the described techniques. A system may include means for performing the described techniques. A method may be performed that executes the techniques described herein.

Through implementation of these and other examples contemplated by this invention, targets of interest may be safely selected while traveling along roadway ramps. This Summary introduces simplified concepts related to target of interest selection on roadway ramps, further described in the Detailed Description and Drawings.

The details of target of interest selection on roadway ramps is described in this document with reference to the Drawings that may use same numbers to reference like features and components, and hyphenated numbers to designate variations of these like features and components. The Drawings are organized as follows:.

Target selection is a key function for autonomous and semi-autonomous vehicles. Target selection prioritizes which target or targets (e.g., targets of interest) may be more likely to impact driving maneuvers of a host vehicle configured for autonomous or semi-autonomous driving. In most situations, a target that is immediately in front (e.g., in the same lane and/or lying on a longitudinal axis extending from a center point of the host vehicle and orthogonal to the front of the host vehicle) of the host vehicle will potentially have the most impact. Other targets that may be ahead of the host vehicle on a roadway but not in front of the host vehicle generally have less impact. For example, a host vehicle using an adaptive cruise control system (ACC) will generally maintain a set velocity unless a target vehicle is in front of or in the same lane as the host vehicle. That target vehicle becomes a target of interest, and the ACC will try to maintain a set distance behind the target of interest. Target vehicles in other lanes may not be considered by the ACC as a target of interest as those target vehicles are in less danger of being in a collision with the host vehicle.

It may be advantageous in some driving situations to select a target that is ahead of (e.g., leading) the host vehicle but not necessarily immediately in front of the host vehicle. One such situation is when the host vehicle travels along an on-ramp or an off-ramp (e.g., ramps, collectively) of a roadway. Many ramps are curved and may have one or more lanes. Additionally, they may have wide shoulders. As vehicles travel along a ramp, they may or may not stay in their original lane. Many times, the vehicles travel, at least partially, in the shoulder area (or median) due to either over-steering or under-steering as they traverse the curve of the ramp.

Many current advanced driving systems base target selection while traveling on ramps on heading and curvature information about the ramps. This method of target selection involves a certain amount of prediction and may not properly categorize vehicles that are in the shoulder areas. These shortcomings are most apparent in ramps with one lane.

In contrast, the techniques disclosed in this document do not depend on prediction. If a ramp is determined to have a single lane, then target selection is based on the first vehicle that is ahead but not necessarily directly in front of the host vehicle. Further, the quantity of lanes is determined from information included in a map (e.g., standard-definition map (SD map), high-definition map (HD map)) stored in the driving systems of the host vehicle. This method may reduce uncertainty due to predictions and complexity of any calculations involving headings and curvatures.

<FIG> illustrates an example environment <NUM> in which target of interest selection on roadway ramps can be applied, in accordance with techniques of this invention. In the depicted environment <NUM>, a host vehicle <NUM> includes an autonomous driving stack (AD stack) <NUM>. Although illustrated as a car, the vehicle <NUM> can represent other types of vehicles and machinery (e.g., a motorcycle, a bus, a tractor, a semi-trailer truck, or other heavy equipment) including manned and unmanned systems that may be used for a variety of purposes.

The AD stack <NUM> can include a sensor module <NUM>, a perception module <NUM>, a global object map, <NUM>, and a target selector <NUM>. In other examples, the operations associated with the AD stack <NUM> can be performed using a different arrangement, combination, or quantity of components than that shown in <FIG>. The sensor module <NUM> includes any sensors (e.g., cameras, radar, LiDAR, infra-red sensors, ultra-sonic sensors) mounted on or integrated within the host vehicle <NUM> that may be used to detect and/or track objects (e.g., targets) in the depicted environment <NUM>. Data from the sensor module <NUM> is output to the perception module <NUM> that generates meaningful information related to the objects in the depicted environment <NUM>. The output of the perception module <NUM>, including fused sensor data, can then be organized into the global object map <NUM>. The global object map <NUM> tracks any objects detected in the depicted environment <NUM>. The target selector <NUM> can use the global object map <NUM> to assess and prioritize the objects as one or more targets of interest. The targets of interest are objects that may demand focus due to their location or actions in relation to the host vehicle <NUM>. Driving systems, such as an ACC, can receive information about the targets of interest from the target selector <NUM> and execute driving maneuvers to safely navigate the host vehicle <NUM>. These driving maneuvers may be executed by driving systems, such as an ACC, and include maintaining a set distance behind the target <NUM>, maintaining a set velocity, or braking when the target <NUM> slows down. Generally, the target of interest may be a target immediately in front of the host vehicle <NUM> (see an example illustrated in <FIG> as host vehicle <NUM> and target T1 <NUM>) as both the host vehicle <NUM> and the target <NUM> travel a roadway <NUM>.

As the target <NUM> and the host vehicle <NUM> transition from a roadway <NUM> to a ramp <NUM> (e.g., on-ramp, off-ramp), the AD stack <NUM> continues to sense, track, and make decisions about whether the target <NUM> is the target of interest. While in the curved portion of the ramp <NUM>, the target <NUM> is still ahead (e.g., still leading) of the host vehicle <NUM>; however, the target <NUM> is no longer directly in front of the host vehicle <NUM>. To accommodate the change in relative position of the target <NUM> to the host vehicle <NUM>, the target selector <NUM> can consult an onboard SD map or HD map that contains information about the quantity of lanes that the ramp <NUM> has. If the ramp <NUM> has a single lane, the target selector maintains target <NUM> as the target of interest, even though the target <NUM> is at angle relative to the heading of host vehicle <NUM>. If the ramp has multiple lanes, the target selector <NUM> continues to determine a target of interest as it would traveling on roadway <NUM>. In this manner, uncertainty over any predictions involved in determining the target of interest is reduced, especially on single lane ramps.

<FIG> illustrates an example of an automotive system <NUM> configured for target of interest selection on roadway ramps, in accordance with techniques of this invention. The automotive system <NUM> can be integrated within the host vehicle <NUM>. For example, the automotive system <NUM> includes a controller <NUM> and a target tracking system <NUM>. The target tracking system <NUM> can be integrated into an automotive or other vehicular environment. The target tracking system <NUM> and the controller <NUM> communicate over a link <NUM>. The link <NUM> may be a wired or wireless link and in some cases includes a communication bus. The controller <NUM> performs operations based on information received over the link <NUM>, such as data output from the target tracking system <NUM> as objects in a FOV of sensors integrated on the host vehicle <NUM> are identified from processing data obtained by the sensors.

The controller <NUM> includes a processor <NUM>-<NUM> and a computer-readable storage media (CRM) <NUM>-<NUM>, which stores instructions for an automotive module <NUM>. The automotive module <NUM> may include different vehicular systems such as ACC, AEB, and vehicle-to-vehicle systems. Other systems may also be included. The target tracking system <NUM> includes one or more sensor interfaces <NUM>. The target tracking system <NUM> may also include processing hardware that includes a processor <NUM>-<NUM> and a computer-readable storage media (CRM) <NUM>-<NUM>, which stores instructions associated with an AD stack <NUM>-<NUM> (e.g., the AD stack <NUM> illustrated in <FIG>). An SD map or HD map that includes roadway and ramp lane information can be stored in CRM <NUM>-<NUM>, <NUM>-<NUM>, or another storage media integrated within the host vehicle <NUM>. The map may also be accessed online through a cloud storage media or website.

The processors <NUM> can include, as non-limiting examples, a system on chip (SoC), an application processor (AP), an electronic control unit (ECU), a central processing unit (CPU), or a graphics processing unit (GPU). The processors <NUM> may be a single-core processor or a multiple-core processor implemented with a homogenous or heterogenous core structure. The processors <NUM> may include a hardware-based processor implemented as hardware-based logic, circuitry, processing cores, or the like. In some aspects, functionalities of the processors <NUM> are provided via an integrated processing, communication, and/or control system (e.g., SoC), which may enable various operations of the vehicle <NUM> in which the system is embodied. The CRMs <NUM> (e.g., transitory storage, non-transitory storage, cloud storage) may include any suitable memory or storage device such as random-access memory (RAM), static RAM (SRAM), dynamic RAM (DRAM), non-volatile RAM (NVRAM), read-only memory (ROM), or flash memory useable to store device data.

The AD stack <NUM>-<NUM> includes a sensor module <NUM>-<NUM>, a perception module <NUM>-<NUM>, a global object map <NUM>-<NUM>, and a target selector <NUM>-<NUM>. The sensor module <NUM>-<NUM> outputs data received from the sensor interface(s) <NUM> to the perception module <NUM>-<NUM>. The perception module <NUM>-<NUM> processes this data into information that can be used to detect and track targets in the vicinity of the host vehicle <NUM>. This information may include object tracks or fused object tracks and other information relative to the objects about the host vehicle <NUM>. This information is projected onto the global object map <NUM>-<NUM>. The global object map <NUM>-<NUM> maps the objects in the environment <NUM> of the host vehicle <NUM>. The target selector <NUM>-<NUM> analyzes the global object map and selects targets of interest from the objects that are communicated to the automotive module <NUM>. For example, if the host vehicle <NUM> transitions to a ramp, the target selector <NUM>-<NUM> determines the quantity of lanes of the ramp based on the SD map or HD map. Based on the quantity of lanes, the target selector <NUM>-<NUM> selects an object (if a candidate object exists) from the global object map <NUM>-<NUM> to be the target of interest. If the ramp has one lane, then the target of interest would be the immediate leading target in relation to the host vehicle <NUM>. This target of interest may not touch the longitudinal axis of the host vehicle. That is, the target of interest may be further around the curve of the ramp such that it does not lie on the path of the instantaneous heading of the host vehicle <NUM>. If the ramp has multiple lanes, the target selector <NUM>-<NUM> chooses the target of interest as if the host vehicle is not traveling on a ramp. By selecting the target of interest in this manner, the target selector <NUM>-<NUM> does not rely on predictions, heading, or curvature calculations when the host vehicle <NUM> is on a single lane ramp.

<FIG> illustrates an example designation <NUM>-<NUM> of targets used for target of interest selection, in accordance with techniques of this invention. A host vehicle <NUM> (e.g., the host vehicle <NUM>) travels a roadway <NUM> that has a lane <NUM>, a lane <NUM>, and a lane <NUM>. The host vehicle <NUM> is traveling in lane <NUM>. A longitudinal axis <NUM> of the host vehicle represents the heading of the host vehicle <NUM>. Immediately in front of the host vehicle <NUM> (and in the same lane) is a target T1 <NUM>. T1 <NUM> lies on the path of the heading of the host vehicle <NUM>. A target T2 <NUM> is in front of the T1 <NUM>. Traveling in lane <NUM> is a target T3 <NUM> that is ahead of the host vehicle <NUM> but is at an angle relative to the longitudinal axis <NUM>. That is, the T3 <NUM> is not on the path of the heading of the host vehicle <NUM>. Traveling in front of the T3 <NUM> and in lane <NUM> is a target T4 <NUM>. Similarly, a target T5 <NUM> and a target T6 <NUM> travel in lane <NUM>.

A general target selection scheme may assign the T1 <NUM> as a target of interest for the host vehicle <NUM>. This is because the T1 <NUM> is in the same lane and/or directly in front of the host vehicle <NUM>. The T1 <NUM> is in the path of the host vehicle <NUM>, and, therefore, systems such as an ACC can focus on the T1 <NUM> for indications of speed changes and/or braking by the T1 <NUM>. The ACC does not focus on the other targets (T2 <NUM> through T6 <NUM>) because those targets are less likely to impact the driving maneuvers that the ACC executes.

<FIG> to <FIG> illustrate example driving scenarios in which target of interest selection on roadway ramps can be applied, in accordance with techniques of this invention. <FIG> illustrates a driving scenario <NUM>-<NUM> where the T2 <NUM>, the T1 <NUM>, and the host vehicle <NUM> have transitioned to a ramp <NUM> with multiple lanes <NUM>-<NUM> and <NUM>-<NUM>. Before transitioning to the ramp <NUM>, according to the general target selection scheme introduced above, the T1 <NUM> was assigned as the target of interest. Because the ramp <NUM> has the multiple lanes <NUM> as determined from a map accessed by the target selector module of the host vehicle <NUM>, the general target selection scheme can be applied. The target selector module of the host vehicle <NUM> may make decisions concerning targets of interest in the same manner as if the host vehicle was on a roadway instead of a ramp.

<FIG> illustrate a driving scenario <NUM>-<NUM> where the T2 <NUM>, the T1 <NUM>, and the host vehicle <NUM> are traveling on a ramp <NUM> with a single lane <NUM>. In <FIG>, the T2 <NUM>, the T1 <NUM>, and the host vehicle <NUM> are traveling on a portion of the ramp that has no (or slight) curve. According to the general target selection scheme, the T1 <NUM> would be assigned as the target of interest because the T1 <NUM> is on the path of the heading as represented by the longitudinal axis <NUM> of the host vehicle <NUM>. However, since the ramp <NUM> only has the one lane <NUM>, a single-lane ramp target selection scheme is selected by the target selector module of the host vehicle <NUM>. The T1 <NUM> is chosen as the target of interest because the ramp <NUM> has the one lane <NUM> and not because the T1 <NUM> lies in the path of the heading of the host vehicle <NUM>. Once the host vehicle <NUM> exits the ramp <NUM>, the general target selection scheme may again be used to determine targets of interest.

In a driving scenario <NUM>-<NUM> as illustrated in <FIG>, the T1 <NUM> and the T2 <NUM> have entered a curve of the ramp and are now off the path of the heading of the host vehicle <NUM>. The T1 <NUM> and the T2 <NUM> are now assigned as the T3 <NUM> and the T4 <NUM> as described according to <FIG>, since the T3 <NUM> and the T4 <NUM> no longer lie on the path of the heading of the host vehicle <NUM>. However, the single-lane ramp target selection scheme assigns the T3 <NUM> as the target of interest because the T3 <NUM> is immediately ahead of the host vehicle <NUM>. Even if the ramp <NUM> ends at a stop indicator or merges into another roadway with slower traffic that causes the T3 <NUM> to brake, the ACC of the host vehicle <NUM> can make a braking decision based on the T3 <NUM>. No predictions about which target, if any, should be the target of interest are made.

<FIG> illustrates a driving scenario <NUM>-<NUM> that is similar to the driving scenario <NUM>-<NUM>. In the driving scenario <NUM>-<NUM>, the T3 <NUM> has over-steered through the curve of the ramp <NUM> and has drifted into a shoulder <NUM>. According to the single-lane ramp target selection scheme, the T3 <NUM> still retains the assignment as the target of interest. The target of interest designation is assigned solely based on the quantity of lanes on the ramp <NUM>. Headings, curvature calculations, and predictions are not included in the decision process of the single-lane ramp target selection scheme. This may lead to the ACC (or other driving systems) of the host vehicle <NUM> to make better driving decisions leading to increased safety for the host vehicle <NUM> and the T3 <NUM>.

<FIG> illustrates an example method for target of interest selection on roadway ramps, in accordance with techniques of this invention. At step <NUM>, whether a host vehicle is traveling on a roadway ramp is determined. The ramp may be an on-ramp or an off-ramp.

At step <NUM>, in response to determining that the host vehicle is traveling on the ramp, a quantity of lanes of the ramp is determined. The ramp may have a single lane or multiple lanes. The ramp may also have a shoulder (or median) on either side. The quantity of lanes can be determined from an SD map or an HD map that the systems of the host vehicle can access. That is, the map can be stored locally in a CRM of the host vehicle, or it can be accessed online. The map includes information about the quantity of lanes that the ramp has.

At step <NUM>, based on the quantity of lanes on the ramp, a target selection scheme from among two or more potential selection schemes is selected to be used while the host vehicle is on the ramp. A first target selection scheme that may be selected is a general target selection scheme. This target selection scheme is selected if the ramp has multiple lanes. A second target selection scheme that may be selected is a single-lane ramp target selection scheme. The single-lane ramp target selection scheme is selected if the ramp only has one lane.

At step <NUM>, based on the selected target selection scheme, a target of interest that is leading the vehicle on the ramp is determined. If the general target selection scheme is selected, the target of interest is determined in the same manner as a target of interest would be determined on a roadway other than a ramp. This scheme may choose a target that is immediately in front of the host vehicle as the target of interest. That is, the target of interest is in the path of the heading of the host vehicle. If the single-lane target selection scheme is selected, the target of interest is determined based on whether the target is immediately leading the host vehicle on the ramp, regardless of whether the selected target is on or off the path of the heading of the host vehicle.

At step <NUM>, one or more driving maneuvers are executed based on the target of interest. These driving maneuvers may include maintaining a set velocity, a set distance behind the target of interest, or braking based on the target of interest decreasing its velocity. The driving maneuvers may be performed by various driving systems of the host vehicle such as an ACC. In this manner, target of interest selection on roadway maps as described in this invention may reduce uncertainty due to predictions involved in selecting a target of interest and resulting in a safer driving experience while a host vehicle is on a single-lane ramp.

In the following section, examples are provided.

Example <NUM> may provide a system including: at least one processor configured to: determine if a host vehicle is traveling on a ramp of a roadway, the ramp being an on-ramp or an off-ramp; responsive to a determination that the host vehicle is traveling on the ramp, determine a quantity of lanes of the ramp; select, based on the quantity of lanes of the ramp, a target selection scheme from among two or more potential selection schemes to be used to track targets while the host vehicle is on the ramp; determine, based on the selected target selection scheme, a target of interest leading the host vehicle on the ramp; and execute, based on the target of interest, one or more driving maneuvers of the host vehicle that assist in avoiding the target of interest.

Example <NUM> may provide the system of example <NUM>, wherein the one or more driving maneuvers include: maintaining a set distance behind the target of interest; maintaining, based on a velocity of the target of interest, a set velocity; or braking based on the velocity of the target of interest decreasing.

Example <NUM> may provide the system of any one of the preceding examples, wherein: a first target selection scheme from the two or more potential selection schemes that configures the at least one processor to determine the target of interest by prioritizing the target that is immediately in front of the host vehicle, the target being in a path of a heading of the host vehicle; and a second target selection scheme from the two or more potential selection schemes that configures the at least one processor to determine the target of interest by prioritizing the target that is immediately ahead and either off or on the path of the heading of the host vehicle.

Example <NUM> may provide the system of any one of the preceding examples, wherein the at least one processor is configured to: select the first target selection scheme from the two or more potential selection schemes if the quantity of lanes is determined to be two or more; or select the second target selection scheme if the quantity of lanes is determined to be one.

Example <NUM> may provide the system of example <NUM>, wherein the at least one processor is further configured to: responsive to the host vehicle exiting the ramp, select the first target selection scheme.

Example <NUM> may provide the system of any one of the preceding examples, wherein the at least one processor is configured to determine the quantity of lanes based on information obtained from a map.

Example <NUM> may provide the system of any one of the preceding examples, wherein the at least one processor is configured to execute the one or more driving maneuvers with an adaptive cruise control system.

Example <NUM> may provide a computer-readable storage media including instructions that, when executed, configure at least one processor to: determine if a host vehicle is traveling on a ramp of a roadway, the ramp being an on-ramp or an off-ramp; responsive to a determination that the host vehicle is traveling on the ramp, determine a quantity of lanes of the ramp; select, based on the quantity of lanes of the ramp, a target selection scheme from among two or more potential selection schemes to be used to track targets while the host vehicle is on the ramp; determine, based on the selected target selection scheme, a target of interest leading the host vehicle on the ramp; and execute, based on the target of interest, one or more driving maneuvers of the host vehicle that assist in avoiding the target of interest.

Example <NUM> may provide the computer-readable storage media of any one of the preceding examples, wherein the one or more driving maneuvers include: maintaining a set distance behind the target of interest; maintaining, based on a velocity of the target of interest, a set velocity; or braking, based on the velocity of the target of interest decreasing.

Example <NUM> may provide the computer-readable storage media of any one of the preceding examples, wherein the instructions include: a first target selection scheme from the two or more potential selection schemes that configures the at least one processor to determine the target of interest by prioritizing the target that is immediately in front of the host vehicle, the target being in a path of a heading of the host vehicle; and a second target selection scheme from the two or more potential selection schemes that configures the at least one processor to determine the target of interest by prioritizing the target that is immediately ahead and either off or on the path of the heading of the host vehicle.

Example <NUM> may provide the computer-readable storage media of any one of the preceding examples, wherein the instructions, when executed, configure the at least one processor to: select the first target selection scheme if the quantity of lanes is determined to be two or more; or select the second target selection scheme if the quantity of lanes is determined to be one.

Example <NUM> may provide the computer-readable storage media of any one of the preceding examples, wherein the instructions, when executed, further configure the at least one processor to: responsive to the host vehicle exiting the ramp, select the first target selection scheme.

Example <NUM> may provide the computer-readable storage media of any one of the preceding examples, wherein the instructions, when executed, configure the at least one processor to determine the quantity of lanes based on information obtained from a map.

Example <NUM> may provide the computer-readable storage media of any one of the preceding examples, wherein the instructions, when executed, configure the at least one processor to execute the one or more driving maneuvers with an adaptive cruise control system.

Example <NUM> may provide a method including: determining if a host vehicle is traveling on a ramp of a roadway, the ramp being an on-ramp or an off-ramp; responsive to a determination that the host vehicle is traveling on the ramp, determining a quantity of lanes of the ramp; selecting, based on the quantity of lanes of the ramp, a target selection scheme from among two or more potential selection schemes to be used to track targets while the host vehicle is on the ramp; determining, based on the selected target selection scheme, a target of interest leading the host vehicle on the ramp; and executing, based on the target of interest, one or more driving maneuvers of the host vehicle that assist in avoiding the target of interest.

Example <NUM> may provide the method of any one of the preceding examples, wherein the one or more driving maneuvers include: maintaining a set distance behind the target of interest; maintaining, based on a velocity of the target of interest, a set velocity; or braking based on the velocity of the target of interest decreasing.

Example <NUM> may provide the method of any one of the preceding examples, wherein the target selection scheme includes one of: a first target selection scheme from the two or more potential selection schemes that determines the target of interest by prioritizing the target that is immediately in front of the host vehicle, the target being in a path of a heading of the host vehicle; or a second target selection scheme from the two or more potential selection schemes that determines the target of interest by prioritizing the target that is immediately ahead and either off or on the path of the heading of the host vehicle.

Example <NUM> may provide the method of any one of the preceding examples, wherein selecting the target selection scheme includes: selecting the first target selection scheme if the quantity of lanes is determined to be two or more; or selecting the second target selection scheme if the quantity of lanes is determined to be one.

Example <NUM> may provide the method of any one of the preceding examples, wherein determining the quantity of lanes is based on information obtained from a map.

Example <NUM> may provide the method of any one of the preceding examples, wherein the one or more driving maneuvers is executed by an adaptive cruise control system.

Claim 1:
A system (<NUM>) comprising:
at least one processor (<NUM>) configured to:
determine if a host vehicle (<NUM>) is traveling on a ramp (<NUM>, <NUM>, <NUM>) of a roadway (<NUM>, <NUM>), the ramp (<NUM>, <NUM>, <NUM>) being an on-ramp or an off-ramp;
responsive to a determination (<NUM>) that the host vehicle (<NUM>) is traveling on the ramp (<NUM>, <NUM>, <NUM>), determine (<NUM>) a quantity of lanes (<NUM>-<NUM>) of the ramp (<NUM>, <NUM>, <NUM>);
select (<NUM>), based on the quantity of lanes (<NUM>-<NUM>) of the ramp (<NUM>, <NUM>, <NUM>), a target selection scheme from among two or more potential selection schemes to be used to track targets (<NUM>) while the host vehicle (<NUM>) is on the ramp (<NUM>, <NUM>, <NUM>);
determine (<NUM>), based on the selected target selection scheme, a target of interest (<NUM>) leading the host vehicle (<NUM>) on the ramp (<NUM>, <NUM>, <NUM>); and
execute (<NUM>), based on the target of interest (<NUM>), one or more driving maneuvers of the host vehicle (<NUM>) that assist in avoiding the target of interest (<NUM>).