Lane change assist apparatus for vehicle
AssigneeToyota Jidosha Kabushiki Kaisha
InventorShota Fujii
Life of this patent
Estimating the term…
Abstract
A driving support Electronic Control Unit (ECU) initializes a target trajectory calculation parameter at a start of Lane Change Assist Control (LCA), calculates, based on the target trajectory calculation parameter, a target trajectory function representing a target lateral position in accordance with an elapsed time from the start of LCA; and calculates a target control amount according to the target trajectory function. When it is determined that the own vehicle has crossed a boundary white line, the driving support ECU again initializes the target trajectory calculation parameter, and calculate the target trajectory function based on the target trajectory calculation parameter.
Claims6
A lane change assist apparatus for a vehicle, the lane change assist apparatus comprising:
- a camera configured to capture images ahead of the vehicle;
- and
- a processor configured to:
- recognize an original lane in which the vehicle currently travels based on at least one of the captured images;
- detect a relative positional relationship of the vehicle with respect to the recognized original lane;
- obtain, based on the relative positional relationship of the vehicle with respect to the recognized original lane, a first target trajectory along which the vehicle is to travel to change lanes from the original lane to a target lane adjacent to the original lane in a lane change direction;
- start performing lane change assist control to control steering of a steered wheel in such a manner that the vehicle travels along at least a portion of the first target trajectory;
- determine whether the vehicle has crossed a boundary between the original lane and the target lane;
- and
- based on determining that the vehicle has crossed the boundary between the original lane and the target lane:
- obtain a second target trajectory along which the vehicle is to travel from a boundary-crossing time point at which the vehicle has been determined to have crossed the boundary until a completion of the lane change assist control, and
- control the steering of the steered wheel in such a manner that the vehicle travels along the second target trajectory after the boundary-crossing time point, wherein the first target trajectory is different from the second target trajectory, wherein the processor is further configured to:
- set a target lane change time period which is a target time period from the start of the lane change assist control until the completion of the lane change assist control;
- obtain, as the first target trajectory, a first target position of the vehicle in a road width direction in accordance with an elapse of time from the start of the lane change assist control, based on the target lane change time period;
- and
- obtain, as the second target trajectory, a second target position of the vehicle in the road width direction in accordance with an elapse of time from the boundary-crossing time point, based on the target lane change time period.
Dependencies are inferred from the claim text.