Lane change system and lane change controller

A lane change controller for a subject vehicle driving in a current drive lane, comprising:

• a processor;
• and
• a memory coupled to the processor and storing instructions executable by the processor to cause the processor to:
• (i) detect a lane boundary line separating the current drive lane (10) and an adjacent lane and detect the adjacent lane;
• (ii) receive an instruction indicating a lane change of the subject vehicle to implement a lane change from the current drive lane to the adjacent lane;
• (iii) cause, upon the instruction, the subject vehicle to approach the lane boundary line and reach a position located from a predetermined approach distance away from the lane boundary line;
• (iv) cause, upon the instruction, indication of an intention of the lane change to another vehicle;
• (v) wait for elapse of a predetermined period of time while providing the indication;
• (vi) determine whether a sufficient space exists between a vehicle in the adjacent lane ahead of the subject vehicle and a vehicle in the adjacent lane behind the subject vehicle;
• and
• (vii) cause, upon determination that the sufficient space exists, the subject vehicle to move from the current drive lane to the adjacent lane.

A lane change system for a subject vehicle comprising:

• a peripheral monitor that obtains information regarding an adjacent lane and a lane boundary line separating a current drive lane from the adjacent lane, when the subject vehicle is located on the current drive lane;
• a direction indicator that provides another vehicle with an indication of an intention of the lane change;
• and
• a lane change controller configured to:
• (i) detect the lane boundary line based on the information received from the peripheral monitor and calculate a distance between the subject vehicle and the lane boundary line;
• (ii) control the subject vehicle to approach the lane boundary line and reach a specified position located from a predetermined approach distance away from the lane boundary line;
• (iii) wait for elapse of a period of time while providing the indication of the intention of the lane change to another vehicle;
• and
• (iv) control the vehicle to further move the subject vehicle from the specified position to the adjacent lane.