Lane change assist device for a vehicle

• US 10,232,768 B2
• Filed: 12/13/2017
• Issued: 03/19/2019
• Est. Priority Date: 12/26/2016
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Fujii, Shota
• Primary Examiner(s): Feild, Joseph H
• Assistant Examiner(s): Akhter, Sharmin
• Application Number:
  US15/840,448
• Publication Number:
  US 20180178715A1
• Time in Patent Office: 461 Days
• Field of Search: 340435, 340475, 340425, 340546, 340476, 701 36, 701 96, 701301
• CPC Class Codes: B60Q 1/346 with automatic actuation
• CPC Class Codes: B60Q 1/40 having mechanical, electric or electronic automatic return to inoperative position
• CPC Class Codes: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/805 Azimuth angle
• CPC Class Codes: B60W 2754/10 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 50/12 Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation

Abstract

When a start acceptance condition for lane change assist control (LCA) is established (S12: Yes), a driving support ECU starts transmission of a turn signal flashing command to a meter ECU (S13). In this manner, flashing of a turn signal can continue even when a driver separates his or her hand from a turn signal lever. When a turn signal turning-off condition is established under a situation in which the LCA is executed (S15: Yes), the driving support ECU stops the turn signal flashing command that has been transmitted so far (S16). With this, the flashing of the turn signal can be ended even when the driver does not perform a returning operation on the turn signal lever.

Claims

1. A lane change assist device for a vehicle, comprising:

a meter electronic control unit (ECU) programmed to intermittently flash a turn signal;

a driving support electronic control unit (ECU) programmed to;

detect a lane change assist request from a driver in response to a lane change assist request operation set in advance, the lane change assist request operation being an operation performed on a turn signal lever to intermittently flash the turn signal, and being performed in order to request lane change assist, wherein the turn signal lever is configured to return to a neutral position when an operation force of the lane change assist request operation is released;

when the lane change assist request is detected and a lane change assist start acceptance condition set in advance is established, accept the lane change assist request and start lane change assist control to change lanes in which an own vehicle travels; and

while executing the lane change assist control, determine whether or not a turn signal turning-off condition set in advance is established; and

control the meter ECU in such a manner that the turn signal continues to be intermittently flashed from the acceptance of the lane change assist request to the establishment of the turn signal turning-off condition,

wherein the turn signal turning-off condition is set to be established before the lane change assist control is completed,

wherein the turn signal turning-off condition is set to be established after a specific point of the own vehicle crosses a boundary line between an original lane before changing lanes and a target lane being a destination of changing lanes, and before the lane change assist control is completed.

2. The lane change assist device for a vehicle according to claim 1, wherein the driving support ECU is further configured to detect the lane change assist request when the lane change assist request operation continues for an assist request confirmation time period set in advance or more.

3. A lane change assist device for a vehicle, comprising:

a meter electronic control unit (ECU) programmed to intermittently flash a turn signal;

a driving support electronic control unit (ECU) programmed to;

detect a lane change assist request from a driver in response to a lane change assist request operation set in advance, the lane change assist request operation being an operation performed on a turn signal lever to intermittently flash the turn signal, and being performed in order to request lane change assist, wherein the turn signal lever is configured to return to a neutral position when an operation force of the lane change assist request operation is released;

when the lane change assist request is detected and a lane change assist start acceptance condition set in advance is established, accept the lane change assist request and start lane change assist control to change lanes in which an own vehicle travels; and

while executing the lane change assist control, determine whether or not a turn signal turning-off condition set in advance is established; and

control the meter ECU in such a manner that the turn signal continues to be intermittently flashed from the acceptance of the lane change assist request to the establishment of the turn signal turning-off condition,

wherein the turn signal turning-off condition is set to be established before the lane change assist control is completed,

acquire a remaining distance in a lane width direction from a current position of the own vehicle to a final target position that is a position of the own vehicle when the lane change assist control is completed; and

determine that the turn signal turning-off condition is established when the remaining distance is equal to or smaller than a turning-off allowance distance that is larger than zero.

4. The lane change assist device for a vehicle according to claim 3, wherein the driving support ECU is further configured to detect the lane change assist request when the lane change assist request operation continues for an assist request confirmation time period set in advance or more.

5. A lane change assist device for a vehicle, comprising:

a meter electronic control unit (ECU) programmed to intermittently flash a turn signal;

a driving support electronic control unit (ECU) programmed to;

detect a lane change assist request from a driver in response to a lane change assist request operation set in advance, the lane change assist request operation being an operation performed on a turn signal lever to intermittently flash the turn signal, and being performed in order to request lane change assist, wherein the turn signal lever is configured to return to a neutral position when an operation force of the lane change assist request operation is released;

when the lane change assist request is detected and a lane change assist start acceptance condition set in advance is established, accept the lane change assist request and start lane change assist control to change lanes in which an own vehicle travels; and

while executing the lane change assist control, determine whether or not a turn signal turning-off condition set in advance is established; and

control the meter ECU in such a manner that the turn signal continues to be intermittently flashed from the acceptance of the lane change assist request to the establishment of the turn signal turning-off condition,

wherein the turn signal turning-off condition is set to be established before the lane change assist control is completed;

change the turn signal turning-off condition in such a manner that a timing at which the turn signal turning-off condition is established becomes earlier when a movement speed of the own vehicle in a lane width direction during the lane change assist control is lower as compared to when the movement speed is high.

6. The lane change assist device for a vehicle according to claim 5, wherein the driving support ECU is further programmed to change the turn signal turning-off condition in such a manner that a distance in a lane width direction from a position of the own vehicle when the turn signal turning-off condition is established to a final target position that is the position of the own vehicle when the lane change assist control is completed becomes longer when the movement speed of the own vehicle in the lane width direction during the lane change assist control is lower as compared to when the movement speed is high.

7. The lane change assist device for a vehicle according to claim 6,

wherein the driving support ECU is further programmed to:

acquire a remaining distance in the lane width direction from a current position of the own vehicle to the final target position; and

determine that the turn signal turning-off condition is established when the remaining distance is equal to or smaller than a turning-off allowance distance that is larger than zero, and

set the turning-off allowance distance to be longer when the movement speed of the own vehicle in the lane width direction during the lane change assist control is lower as compared to when the movement speed is high.

8. The lane change assist device for a vehicle according to claim 5, wherein the driving support ECU is further configured to detect the lane change assist request when the lane change assist request operation continues for an assist request confirmation time period set in advance or more.