# US 11,993,308 B2 · Lane change assist apparatus for vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,308 B2 - Document ID: US11993308B2 - Status: Granted - Kind: B2 - Application number: 18/086,883 - Filed: 2022-12-22 - Published: 2023-04-20 - Granted: 2024-05-28 - Earliest claimed: 2017-04-12 - Assignees: Toyota Jidosha Kabushiki Kaisha - Applicants: Toyota Jidosha Kabushiki Kaisha - Inventors: Shota Fujii - Web page: https://patentgrep.com/patent/US11993308B2 ## CPC - B62D 15/0255: {Automatic changing of lane, e.g. for passing another vehicle} - B62D 6/003: {in order to control vehicle yaw movement, i.e. around a vertical axis (B62D6/007 takes precedence)} - B62D 6/04: responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0246: {using a video camera in combination with image processing means} - G05D 1/0257: {using a radar (radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931)} - G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons - G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - B60Y 2200/11: Passenger cars; Automobiles - B60Y 2400/3015: Optical cameras - B60Y 2400/3017: Radars - B60Y 2400/83: Steering input members - B60Y 2400/90: Driver alarms - B60Y 2400/92: Driver displays - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B60Y: INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The vehicle control apparatus according to claim 1, wherein, said processor is further configured to: obtain a target time, based on a distance in a lane width direction between said initial lateral position and said final target lateral position; obtain said first target trajectory in such a manner that said vehicle moves from said initial lateral position to said final target lateral position in said target time; obtain a target lane change remaining time, based on a distance in said lane width direction between said lateral position of said vehicle at said steering determination time point and said final target lateral position; and obtain said second target trajectory in such a manner that said vehicle moves from said lateral position of said vehicle at said steering determination time point to said final target lateral position in said target lane change remaining time. ### Claim 3 (depends on 2) The vehicle control apparatus according to claim 2, wherein, said processor is further configured to: obtain said target lane change remaining time in such a manner that said target lane change remaining time is shorter as a lateral speed in said lane width direction of said vehicle at said steering determination time point is higher. ### Claim 4 (depends on 2) The vehicle control apparatus according to claim 2, wherein, said processor is further configured to: obtain said target lane change remaining time in such a manner that said target lane change remaining time is shorter as a lateral acceleration in said lane width direction of said vehicle at the steering determination time point is higher. ### Claim 5 (depends on 1) The vehicle control apparatus according to claim 1, wherein, said processor is further configured to: obtain, based on said obtained relative positional relationship, a third target trajectory, upon a second steering determination time point at which it is determined that a driver has performed a steering operation while said vehicle is being caused to travel along said second target trajectory, said third target trajectory being for letting said vehicle move from a lateral position of said vehicle at said second steering determination time point to said final target lateral position; and cause, based on said obtained relative positional relationship, said vehicle to travel along said third target trajectory in place of said second target trajectory, after said second steering determination time point. ### Claim 6 (depends on 1) The vehicle control apparatus according to claim 1, wherein, said processor is further configured to: continue to cause, based on said obtained relative positional relationship, said vehicle to travel along said second target trajectory till said lateral position of said vehicle reaches said final target lateral position, regardless of whether or not said driver has performed another steering operation after said steering determination time point. ### Claim 7 (depends on 1) The vehicle control apparatus according to claim 1, wherein, said processor is further configured to: at said steering determination time point, determine whether or not an actual lateral position of said vehicle is closer to said final target position with respect to a position determined by said first target trajectory by a threshold or more; cause, based on said obtained relative positional relationship, said vehicle to travel along said first target trajectory when it is determined said actual lateral position of said vehicle is not closer to said final target position with respect to said position determined by said first target trajectory by said threshold or more; and cause, based on said obtained relative positional relationship, said vehicle to travel along said second target trajectory when it is determined said actual lateral position of said vehicle is closer to said final target position with respect to said position determined by said first target trajectory by said threshold or more. ### Claim 8 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. ### Claim 9 (depends on 8) The vehicle control method according to claim 8, further comprising: obtaining a target time, based on a distance in a lane width direction between said initial lateral position and said final target lateral position; obtaining said first target trajectory in such a manner that said vehicle moves from said initial lateral position to said final target lateral position in said target time; obtaining a target lane change remaining time, based on a distance in said lane width direction between said lateral position of said vehicle at said steering determination time point and said final target lateral position; and obtaining said second target trajectory in such a manner that said vehicle moves from said lateral position of said vehicle at said steering determination time point to said final target lateral position in said target lane change remaining time. ### Claim 10 (depends on 9) The vehicle control method according to claim 9, further comprising: obtaining said target lane change remaining time in such a manner that said target lane change remaining time is shorter as a lateral speed in said lane width direction of said vehicle at said steering determination time point is higher. ### Claim 11 (depends on 9) The vehicle control method according to claim 9, further comprising: obtaining said target lane change remaining time in such a manner that said target lane change remaining time is shorter as a lateral acceleration in said lane width direction of said vehicle at the steering determination time point is higher. ### Claim 12 (depends on 8) The vehicle control method according to claim 8, further comprising: obtaining, based on said obtained relative positional relationship, a third target trajectory, upon a second steering determination time point at which it is determined that a driver has performed a steering operation while said vehicle is being caused to travel along said second target trajectory, said third target trajectory being for letting said vehicle move from a lateral position of said vehicle at said second steering determination time point to said final target lateral position; and causing, based on said obtained relative positional relationship, said vehicle to travel along said third target trajectory in place of said second target trajectory, after said second steering determination time point. ### Claim 13 (depends on 8) The vehicle control method according to claim 8, further comprising: continuing to cause, based on said obtained relative positional relationship, said vehicle to travel along said second target trajectory till said lateral position of said vehicle reaches said final target lateral position, regardless of whether or not said driver has performed another steering operation after said steering determination time point. ### Claim 14 (depends on 8) The vehicle control method according to claim 8, further comprising: at said steering determination time point, determining whether or not an actual lateral position of said vehicle is closer to said final target position with respect to a position determined by said first target trajectory by a threshold or more; causing, based on said obtained relative positional relationship, said vehicle to travel along said first target trajectory when it is determined said actual lateral position of said vehicle is not closer to said final target position with respect to said position determined by said first target trajectory by said threshold or more; and causing, based on said obtained relative positional relationship, said vehicle to travel along said second target trajectory when it is determined said actual lateral position of said vehicle is closer to said final target position with respect to said position determined by said first target trajectory by said threshold or more. ### Claim 15 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. ### Claim 16 (depends on 15) The non-transitory computer-readable medium according to claim 15, wherein the program is further configured to cause the processor to: obtain a target time, based on a distance in a lane width direction between said initial lateral position and said final target lateral position; obtain said first target trajectory in such a manner that said vehicle moves from said initial lateral position to said final target lateral position in said target time; obtain a target lane change remaining time, based on a distance in said lane width direction between said lateral position of said vehicle at said steering determination time point and said final target lateral position; and obtain said second target trajectory in such a manner that said vehicle moves from said lateral position of said vehicle at said steering determination time point to said final target lateral position in said target lane change remaining time. ### Claim 17 (depends on 16) The non-transitory computer-readable medium according to claim 16, wherein the program is further configured to cause the processor to: obtain said target lane change remaining time in such a manner that said target lane change remaining time is shorter as a lateral speed in said lane width direction of said vehicle at said steering determination time point is higher. ### Claim 18 (depends on 16) The non-transitory computer-readable medium according to claim 16, wherein the program is further configured to cause the processor to: obtain said target lane change remaining time in such a manner that said target lane change remaining time is shorter as a lateral acceleration in said lane width direction of said vehicle at the steering determination time point is higher. ### Claim 19 (depends on 15) The non-transitory computer-readable medium according to claim 15, wherein the program is further configured to cause the processor to: obtain, based on said obtained relative positional relationship, a third target trajectory, upon a second steering determination time point at which it is determined that a driver has performed a steering operation while said vehicle is being caused to travel along said second target trajectory, said third target trajectory being for letting said vehicle move from a lateral position of said vehicle at said second steering determination time point to said final target lateral position; and cause, based on said obtained relative positional relationship, said vehicle to travel along said third target trajectory in place of said second target trajectory, after said second steering determination time point. ### Claim 20 (depends on 15) The non-transitory computer-readable medium according to claim 15, wherein the program is further configured to cause the processor to: continue to cause, based on said obtained relative positional relationship, said vehicle to travel along said second target trajectory till said lateral position of said vehicle reaches said final target lateral position, regardless of whether or not said driver has performed another steering operation after said steering determination time point.