Lane change assist apparatus for vehicle
AssigneeToyota Jidosha Kabushiki Kaisha
InventorShota Fujii
Life of this patent
Estimating the term…
Abstract
A driving support ECU initializes a target trajectory calculation parameter at a start of LCA; calculates, based on the target trajectory calculation parameter, a target trajectory function representing a target lateral position which is a target position of an own vehicle in a lane width direction in accordance with an elapsed time from the start of LCA; calculates a target control amount based on the target trajectory function; when a steering operation by a driver has been detected, again initializes the target trajectory calculation parameter; and recalculates the target trajectory function based on the target trajectory calculation parameter.
Claims9
A lane change assist apparatus for vehicle comprising:
- a lane recognition unit for recognizing a lane to detect a relative positional relationship of an own vehicle with respect to the lane;
- a target trajectory calculation unit for, based on the relative positional relationship of the own vehicle with respect to the lane, calculating a target trajectory for having the own vehicle change lanes toward an adjacent lane;
- and
- an assist control unit for performing a lane change assist control to control steering of a steered wheel in such a manner that the own vehicle travels along the target trajectory,
- wherein the lane change assist apparatus further comprises a steering operation determination unit for determining whether or not a driver has performed a steering operation while the lane change assist control is being performed,
- wherein the target trajectory calculation unit comprises:
- a first calculation unit for, at a start of the lane change assist control, calculating the target trajectory along which the own vehicle is to travel from the start of the lane change assist control until a completion of the lane change assist control;
- and
- a second calculation unit for, at a steering determination time point at which the steering operation determination unit determines that the driver has performed the steering operation, calculating the target trajectory along which the own vehicle is to travel from the steering determination time point until the completion of the lane change assist control, based on a lateral position which is a position of the own vehicle in a lane width direction at the steering determination time point, and a lateral movement state amount representing a movement state of the own vehicle in the lane width direction at the steering determination time point, and
- wherein, the assist control unit is configured to:
- control the steering of the steered wheel in such a manner that the own vehicle travels along the target trajectory calculated by the first calculation unit until the steering determination time point;
- and
- control the steering of the steered wheel in such a manner that the own vehicle travels along the target trajectory calculated by the second calculation unit after the steering determination time point.
Dependencies are inferred from the claim text.