Abstract: A vehicle, system and a method of operating the vehicle is disclosed. The system includes a first sensor, a second sensor and a processor. The first sensor captures an image of a traffic control device. The second sensor identifies a lane within a road that is occupied by the vehicle. The processor is configured to determine an attribute of the lane occupied by the vehicle, associate a semantic meaning to a motion control signal of the traffic control device, determine a maneuver for the vehicle based on the semantic meaning of the motion control signal and the attribute of the lane occupied by the vehicle, and perform the maneuver at the vehicle.

Abstract: A method to establish a lane-change maneuver, the method includes the steps of calculating a plurality of anchor points along a projected vehicle route and, based on the plurality of anchor points, generating a lane-change maneuver trajectory. The plurality of anchor points can include: a first anchor point based on time, a second anchor point where the vehicle would cross a lane boundary from a host lane to a target lane, and a third anchor point where counter steering torque would be applied to center the vehicle in the target lane.

Abstract: A method and apparatus that perform threat zone assessment in a host vehicle are provided. The method includes detecting a target vehicle in a nonadjacent lane with respect to the host vehicle, determining dimensions of the detected target vehicle, a type of the detected target vehicle, and geometry of a road on which the detected target vehicle and the host vehicle are traveling, calculating the threat zone based on the dimensions of the detected target vehicle, the type of the detected target vehicle, or the geometry of the road on which the detected target vehicle and the host vehicle are traveling, and controlling the host vehicle to avoid the calculated threat zone by accelerating the host vehicle, decelerating the host vehicle, or aborting a lane change by the host vehicle.

Abstract: A method to establish a lane-change maneuver, the method includes the steps of calculating a plurality of anchor points along a projected vehicle route and, based on the plurality of anchor points, generating a lane-change maneuver trajectory. The plurality of anchor points can include: a first anchor point based on time, a second anchor point where the vehicle would cross a lane boundary from a host lane to a target lane, and a third anchor point where counter steering torque would be applied to center the vehicle in the target lane.

Abstract: A method and apparatus that perform threat zone assessment in a host vehicle are provided. The method includes detecting a target vehicle in a nonadjacent lane with respect to the host vehicle, determining dimensions of the detected target vehicle, a type of the detected target vehicle, and geometry of a road on which the detected target vehicle and the host vehicle are traveling, calculating the threat zone based on the dimensions of the detected target vehicle, the type of the detected target vehicle, or the geometry of the road on which the detected target vehicle and the host vehicle are traveling, and controlling the host vehicle to avoid the calculated threat zone by accelerating the host vehicle, decelerating the host vehicle, or aborting a lane change by the host vehicle.