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US 11,993,308 B2Granted
Lane change assist apparatus for vehicle
AssigneeToyota Jidosha Kabushiki Kaisha
InventorShota Fujii
Life of this patent
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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.
Claims20
A vehicle control apparatus comprising:
- a processor configured to:
- obtain a relative positional relationship between a vehicle and a lane in which said vehicle is traveling, based on an image in front of said vehicle;
- obtain, based on said obtained relative positional relationship, a first target trajectory, for letting said vehicle move from an initial lateral position in an original lane to a final target lateral position in an adjacent lane;
- perform a lane change assist control by causing, based on said obtained relative positional relationship, said vehicle to travel along said first target trajectory using a steering motor of said vehicle;
- obtain, based on said obtained relative positional relationship, a second target trajectory, upon a steering determination time point when it is determined that a driver has performed a steering operation while said vehicle is being caused to travel along said first target trajectory, for letting said vehicle move from a lateral position of said vehicle at said steering determination time point to said final target lateral position wherein said second target trajectory is different from said first target trajectory;
- and
- perform said lane change assist control by causing, based on said obtained relative positional relationship, said vehicle to travel along said second target trajectory in place of said first target trajectory, using said steering motor, after said steering determination time point.
4 more elements
A vehicle control method, using a processor, comprising:
- obtaining a relative positional relationship between a vehicle and a lane in which said vehicle is traveling, based on an image in front of said vehicle;
- obtaining, based on said obtained relative positional relationship, a first target trajectory, for letting said vehicle move from an initial lateral position in an original lane to a final target lateral position in an adjacent lane;
- perform a lane change assist control by causing, based on said obtained relative positional relationship, said vehicle to travel along said first target trajectory using a steering motor of said vehicle;
- obtaining, based on said obtained relative positional relationship, a second target trajectory, upon a steering determination time point when it is determined that a driver has performed a steering operation while said vehicle is being caused to travel along said first target trajectory, for letting said vehicle move from a lateral position of said vehicle at said steering determination time point to said final target lateral position wherein said second target trajectory is different from said first target trajectory;
- and
- perform said lane change assist control by causing, based on said obtained relative positional relationship, said vehicle to travel along said second target trajectory in place of said first target trajectory, using ftsaid steering motor, after said steering determination time point.
3 more elements
A non-transitory computer readable medium storing instructions that, when executed by at least one processor for a control device to perform a vehicle control, cause the at least one processor to:
- obtain a relative positional relationship between a vehicle and a lane in which said vehicle is traveling, based on an image in front of said vehicle;
- obtain, based on said obtained relative positional relationship, a first target trajectory, for letting said vehicle move from an initial lateral position in an original lane to a final target lateral position in an adjacent lane;
- perform a lane change assist control by causing, based on said obtained relative positional relationship, said vehicle to travel along said first target trajectory using a steering motor of said vehicle;
- obtain, based on said obtained relative positional relationship, a second target trajectory, upon a steering determination time point when it is determined that a driver has performed a steering operation while said vehicle is being caused to travel along said first target trajectory, for letting said vehicle move from a lateral position of said vehicle at said steering determination time point to said final target lateral position wherein said second target trajectory is different from said first target trajectory;
- and
- perform said lane change assist control by causing, based on said obtained relative positional relationship, said vehicle to travel along said second target trajectory in place of said first target trajectory, using said steering motor, after said steering determination time point.
3 more elements
Dependencies are inferred from the claim text.