Drive assist device

• US 10,118,641 B2
• Filed: 10/22/2014
• Issued: 11/06/2018
• Est. Priority Date: 10/22/2014
• Status: Active Grant

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Fujita, Susumu
• Primary Examiner(s): Elchanti, Hussein
• Application Number:
  US15/520,275
• Publication Number:
  US 20170320521A1
• Time in Patent Office: 1,476 Days
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G01C 21/3602 Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera
• CPC Class Codes: G01C 21/3658 Lane guidance
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A drive assist device for assisting a drive when a subject vehicle changes lanes comprises a position measurement unit configured to measure a position of the subject vehicle; a detection unit provided at the subject vehicle and configured to detect a surrounding situation of the subject vehicle; a database configured to store map information; and a setting unit configured to set a lane change location and a reference point on a travel route of the subject vehicle on the basis of the position of the subject vehicle and the map information. The reference point is located ahead of the lane change location in a travel direction of the subject vehicle. The setting unit sets, on the basis of a detection range of the detection unit and a position of the reference point, a point at which the subject vehicle should complete changing lanes, as a lane change completion point.

Claims

1. A drive assist device for assisting a drive when a subject vehicle changes lanes, comprising:

a position measurement device configured to measure a position of the subject vehicle;

a sensor provided at the subject vehicle and configured to detect a surrounding situation of the subject vehicle;

a database configured to store map information; and

a controller configured to;

set a lane change location and a reference point on a travel route of the subject vehicle on a basis of the position of the subject vehicle and the map information, the lane change location being a location at which the subject vehicle should change lanes, the reference point being located ahead of the lane change location in a travel direction of the subject vehicle,

set, on a basis of a detection range of the sensor and a position of the reference point, a point at which the subject vehicle should complete changing lanes, as a lane change completion point, and

set the lane change completion point at a position separate from the reference point at least by a length of the detection range in a direction opposite to the travel direction.

2. The drive assist device according to claim 1, wherein the controller sets, as the reference point, a position that should be detected by the sensor for travel after changing lanes at the lane change completion point.

3. The drive assist device according to claim 1, wherein the controller is further configured to:

estimate a vehicle speed at which the subject vehicle should travel at the lane change completion point, on a basis of a distance from the lane change completion point to the reference point and a deceleration from the lane change completion point to the reference point.

4. The drive assist device according to claim 1, wherein the controller further:

specifies any one of an intersection, a merging point and a branching point that are represented by the map information, as a specified point; and

sets a location that requires lane change for traveling at the specified point, as the lane change location.

5. The drive assist device according to claim 1, wherein the controller sets the reference point on a basis of a structure of a road represented by the map information.

6. The drive assist device according to claim 1, wherein the controller sets, as the reference point, a start end of a lane change prohibited zone represented by the map information or a start end when changing lanes after changing lanes at the lane change completion point.

7. The drive assist device according to claim 1, wherein the detection range is set on a basis of a typical value of the sensor.

8. The drive assist device according to claim 1, wherein the controller is further

configured to correct the detection range, and

set the lane change completion point on a basis of the detection range after correction.

9. The drive assist device according to claim 8, wherein the controller corrects the detection range on a basis of performance of the sensor.

10. The drive assist device according to claim 8, wherein the controller is further

configured to estimate a crowded state of the travel route on which the subject vehicle travels, and

correct the detection range on a basis of the crowded state.

11. The drive assist device according to claim 10, wherein the controller estimates the crowded state on a basis of the surrounding situation of the subject vehicle detected by the sensor.

12. The drive assist device according to claim 10, wherein the controller acquires traffic jam information via communication and estimates the crowded state on a basis of the traffic jam information.

13. The drive assist device according to claim 1, wherein the controller is further configured to:

specify a first lane change completion point at a position separate from the reference point by a length of the detection range in a direction opposite to the travel direction;

calculate a travel distance for the subject vehicle to travel to the reference point after the subject vehicle changes lanes on a basis of a vehicle speed after the subject vehicle changes lanes and a deceleration from a point of the lane change to the reference point;

specify a second lane change completion point at a position separate from the reference point at least by the travel distance in the direction opposite to the travel direction; and

set the second lane change completion point as the lane change completion point when the travel distance is longer than a length of the detection range.