Method and apparatus for supporting driving of vehicle
AssigneeToyota Jidosha Kabushiki Kaisha
InventorTomohiro KITAOKA
Life of this patent
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Abstract
Vehicle control for a lane change from a first lane to a second lane is executed. In this vehicle control, a target space is set in the second lane based on information on a space in the second lane. When a speed of a traffic stream of the second lane is higher than that in the first lane, it is determined whether acceleration of the vehicle is able to perform in a front space of the vehicle in the first lane. When it is determined that acceleration of the vehicle is able to perform, acceleration and steering control of the vehicle for moving from the first lane to the target space is executed. Otherwise, temporal deceleration control of the vehicle on the first lane is executed.
Claims5
A method for supporting driving of a vehicle including a lane change from a first lane to a second lane, the method comprising the step of:
- executing vehicle control for the lane change based on information on a driving environment of the vehicle,
- wherein the information on the driving environment includes information on a space in the second lane, information on a speed of a traffic stream of the second lane, information on the speed of the traffic stream of the first lane, and information on a front inter-vehicular distance indicating a distance between the vehicle and a preceding vehicle of the vehicle in the first lane,
- wherein the step of executing the vehicle control comprises the steps of:
- setting a target space in the second lane based on the information on the space in the second lane;
- when the speed of the traffic stream of the second lane is higher than that in the first lane, determining whether acceleration of the vehicle is able to perform in a front space of the vehicle in the first lane based on the front inter-vehicular distance, a shortened inter-vehicular distance indicating a distance between the vehicle and the preceding vehicle that is shortened when the vehicle runs on the first lane at a preset acceleration rate, and a front safe distance from the vehicle to the preceding vehicle;
- executing acceleration and steering control of the vehicle to move from the first lane to the target space when it is determined that the acceleration of the vehicle is able to perform;
- and
- executing temporal deceleration control of the vehicle on the first lane when it is determined that the acceleration of the vehicle is unable to perform.
An apparatus for supporting traveling of a vehicle including a lane change from a first lane to a second lane, comprising:
- a processor configured to execute vehicle control processing for the lane change based on information on a driving environment of the vehicle,
- wherein the information on the driving environment includes information on a space in the second lane, information on a speed of a traffic stream of the second lane, information on the speed of the traffic stream of the first lane, and information on a front inter-vehicular distance indicating a distance between the vehicle and a preceding vehicle of the vehicle in the first lane,
- wherein, in the vehicle control processing, the processor is configured to:
- execute processing to set a target space in the second lane based on the information on the space in the second lane;
- when the speed of the traffic stream of the second lane is higher than that in the first lane, execute processing to determine whether acceleration of the vehicle is able to perform in a front space of the vehicle in the first lane based on the front inter-vehicular distance, a shortened inter-vehicular distance indicating a distance between the vehicle and the preceding vehicle that is shortened when the vehicle runs on the first lane at a preset acceleration rate, and a front safe distance from the vehicle to the preceding vehicle;
- execute processing to perform acceleration and steering control of the vehicle to move from the first lane to the target space when it is determined that the acceleration of the vehicle is able to perform;
- and
- execute processing to perform temporal deceleration control of the vehicle on the first lane when it is determined that the acceleration of the vehicle is unable to perform.
Dependencies are inferred from the claim text.