US 10,515,552 B2Granted

Driving assist apparatus

AssigneeToyota Jidosha Kabushiki Kaisha

InventorShunsuke Miyata

Life of this patent

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Abstract

In a driving assist apparatus for assisting a lane change from an own lane to a target lane, when a post-smoothing probability obtained by smoothing a time course change in “a lane presence possibility which increases with the possibility that a target is another vehicle traveling in the target lane (target lane other vehicle)” is greater than a threshold value, that target can be extracted as the target lane other vehicle. The post-smoothing probability requires some length of time to coincide with the lane presence possibility. Therefore, if after completion of a lane change, another lane change is immediately started in the same direction, there arises a possibility that the target lane other vehicle cannot be extracted properly. Therefore, in the case where after completion of a lane change, another lane change is started in the same direction, the lane change is not started until a re-change prohibition time elapses.

Claims2

Dependent claims

A driving assist apparatus comprising:

a sensor configured to detect at least one target present around an own vehicle;
and
an electronic control unit (ECU) configured to:
obtain a target position representing a position of said target in relation to said own vehicle;
obtain a target lane probability regarding said detected target in accordance with said target position, said target lane probability increasing with a possibility that said target is a target lane other vehicle which is another vehicle traveling in a target lane which is a lane located adjacent, in a specific direction which is a leftward or rightward direction, to a lane in which said own vehicle is traveling;
obtain a post-smoothing probability regarding said detected target by smoothing a time course change in said target lane probability regarding said detected target;
extract said target as said target lane other vehicle when said post-smoothing probability regarding said detected target is greater than a predetermined probability threshold;
execute a lane change assist control for assisting a lane change to said target lane by controlling a turn angle of turnable wheels of said own vehicle when predetermined control start conditions are satisfied, the control start conditions including a determination that said own vehicle does not collide with said extracted target lane other vehicle during said lane change to said target lane;
and
prohibit execution of said lane change assist control for a new lane change to a lane adjacent to said target lane in said specific direction until a predetermined re-change prohibition time elapses after a predetermined specific condition is satisfied, the specific condition including entry of said own vehicle into said target lane.

7 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/990,995Filed 29 May 2018
Priority: JP 2017-1147749 Jun 2017
Published: US 2018/0357904 A113 Dec 2018
Granted: 24 Dec 2019
Term ends: Not estimatedThe source records don’t support an estimate.

Classification16 codes

G08G 1/166
Anti-collision systems: for active traffic, e.g. moving vehicles, pedestrians, bikes
B60W 10/04
Conjoint control of vehicle sub-units of different type or different function: including control of propulsion units
B60W 10/20
Conjoint control of vehicle sub-units of different type or different function: including control of steering systems
B60W 30/18145
Related to particular drive situations: cornering