Lane change system and lane change controller

• US 10,290,214 B2
• Filed: 04/11/2017
• Issued: 05/14/2019
• Est. Priority Date: 04/11/2017
• Status: Active Grant

• Current Assignee: DENSO Corporation, Denso International America Incorporated (DENSO Corporation)
• Original Assignee: DENSO Corporation, Denso International America Incorporated (DENSO Corporation)
• Inventors: Zhang, Yu
• Primary Examiner(s): Shaawat, Mussa A
• Application Number:
  US15/484,275
• Publication Number:
  US 20180293894A1
• Time in Patent Office: 763 Days
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 19/13 Receivers
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A lane change system for a subject vehicle including a peripheral monitor, an instruction portion, a direction indicator, a vehicle guide system, and a lane change controller is provided. The peripheral monitor obtains information regarding an adjacent lane and a lane boundary line. The instruction portion outputs a lane change initiation signal at a time of a lane change. The direction indicator provides another vehicle with an indication of an intention of the lane change. The vehicle guide system controls an operation of the subject vehicle. The lane change controller is configured to: detect the lane boundary line; control the subject vehicle to approach the lane boundary line and reach a position located from a predetermined approach distance; wait for elapse of a period of time; and control the vehicle guide system to move the subject vehicle to the adjacent lane.

Claims

1. 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;

an instruction portion that outputs a lane change initiation signal at a time of a lane change of the subject vehicle upon receiving a lane change instruction;

a direction indicator that provides another vehicle with an indication of an intention of the lane change upon receiving the lane change initiation signal;

a vehicle guide system that controls an operation of the subject vehicle; 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 position located from a predetermined approach distance away from the lane boundary line by the vehicle guide system;

(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 guide system to further move the subject vehicle from the current drive lane at the predetermined approach distance to the adjacent lane.

2. The lane change system according to claim 1, wherein:

the lane change controller is further configured to determine whether a sufficient space exists ahead of the subject vehicle and behind the subject vehicle in the adjacent lane; and

the vehicle guide system moves the subject vehicle from the current drive lane to the adjacent lane upon detecting that there is the sufficient space.

3. The lane change system according to claim 2, further comprising:

a notification device that notifies a driver that the lane change has been prevented,

wherein;

the lane change controller is prevented from leading the subject vehicle from the current drive lane to the adjacent lane upon detecting that there is insufficient space, and the notification device informs that the lane change has been prevented.

4. The lane change system according to claim 3, wherein:

the lane change controller controls the subject vehicle to back toward a predetermined position in the current drive lane upon determining that the lane change has been prevented.

5. The lane change system according to claim 4, wherein:

the notification device asks whether to attempt the lane change again.

6. 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.

7. 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.