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.
Claims9
A vehicle control device comprising:
- a steering torque sensor which detects a steering torque input to a steering wheel of a vehicle;
- a steering motor which generates a steering torque;
- and
- a processor that executes a program stored in a memory, the processor configured to:
- perform a lane change assist control that controls steering of at least one wheel of the vehicle using the steering motor in such a manner that the vehicle travels along a first target trajectory for changing a position of the vehicle from a first lane in which the vehicle is currently traveling to a second lane which is adjacent to the first lane;
- determine, based on the steering torque input detected by the steering torque sensor, whether a driver of the vehicle has performed a steering operation while the lane change assist control using the first target trajectory is being performed;
- and
- based on a determination that the driver has performed the steering operation while the lane change assist control using the first target trajectory is being performed, calculate a second target trajectory for changing a position of the vehicle to the second lane, and perform the lane change assist control using the second target trajectory with the steering motor, wherein the first target trajectory is different from the second target trajectory.
A vehicle control method comprising:
- performing a lane change assist control that controls steering of at least one wheel of a vehicle using a steering motor in such a manner that the vehicle travels along a first target trajectory for changing a position of the vehicle from a first lane in which the vehicle is currently traveling to a second lane which is adjacent to the first lane;
- determining, based on a steering torque detected by a steering torque sensor, whether a driver of the vehicle has performed a steering operation while the lane change assist control using the first target trajectory is being performed;
- and
- based on a determination that the driver has performed the steering operation while the lane change assist control using the first target trajectory is being performed, calculating a second target trajectory for changing a position of the vehicle to the second lane, and performing the lane change assist control using the second target trajectory with the steering motor, wherein the first target trajectory is different from the second target trajectory.
Dependencies are inferred from the claim text.