Lane change assist apparatus for vehicle
AssigneeToyota Jidosha Kabushiki Kaisha
InventorShota Fujii
Life of this patent
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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.
Claims3
A lane change assist apparatus for a vehicle, the lane change assist apparatus comprising:
- a camera configured to capture images ahead of the vehicle;
- 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 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, wherein the target trajectory is obtained based on:
- (i) an initial lateral state amount representing a lateral position of the vehicle with respect to the original lane at a start of a lane change assist control and a lateral movement state amount which is a movement state of the vehicle in a road width direction at the start of the lane change assist control;
- and
- (ii) a final target lateral state amount representing a target lateral position of the vehicle with respect to the original lane at a completion of the lane change assist control and a target lateral movement state amount of the vehicle at the completion of the lane change assist control;
- and
- control a steering of a steered wheel in such a manner that the vehicle travels along the 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;
- and
- obtain the initial lateral state amount and the final target lateral state amount based on:
- (i) a lateral position of the vehicle with respect to a lane center line of the original lane at the start of the lane change assist control;
- (ii) a speed of the vehicle in a lateral direction at the start of the lane change assist control;
- (iii) an acceleration of the vehicle in the lateral direction at the start of the lane change assist control;
- (iv) a target lateral position of the vehicle with respect to the lane center line of the original lane at the completion of the lane change assist control;
- (v) a target speed of the vehicle in the lateral direction at the completion of the lane change assist control;
- (vi) a target acceleration of the vehicle in the lateral direction at the completion of the lane change assist control;
- and
- (vii) the target lane change time period.
Dependencies are inferred from the claim text.