Lane changing support apparatus
First Claim
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1. A lane changing support apparatus comprising:
- a plurality of radar sensors, each of which transmits radar wave to surroundings of an own vehicle to detect a reflection point of a three-dimensional object of said radar wave as a sensor target object, and detects position-and-speed information to specify a position and a speed of said detected sensor target object with respect to said own vehicle;
target object specifying means for specifying, every time a predetermined time elapses, a determinative target object indicative of a three-dimensional object present around said own vehicle using said position-and-speed information;
control execution means for performing a lane changing support control to control a steering angle of said own vehicle so as to support a traveling of said own vehicle when said vehicle changes lanes from an own lane in which said own vehicle is traveling to a target adjacent lane adjacent to said own lane; and
control prohibiting means;
for, in a case where said sensor target object corresponding to a previous determinative target object which is said determinative target object specified said predetermined time before is not detected, determining that it is highly likely that an attention determinative target object has entered a blind spot area in which any of said radar sensors cannot detect any of said sensor target objects to prohibit said control execution means from performing said lane changing support control, when a blind spot area entering determination condition is satisfied, said blind spot area entering determination condition including a first condition and a second condition, said first condition being a condition satisfied when a magnitude of a speed relative to said own vehicle of said attention determinative target object being said previous determinative target object to which said target object which is not detected corresponds is smaller than a threshold relative speed, and said second condition being a condition satisfied when a position of said attention determinative target object with respect to said own vehicle is within a blind spot area entering determination area which includes a whole of said blind spot area.
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Abstract
A lane changing support apparatus includes a plurality of radar sensors and a driving support ECU. The driving support ECU determines whether or not a target object is highly likely to have entered a blind spot area of the radar sensors based on fusion target object information, when starting an extrapolation process of the fusion target object. When the driving support ECU determines that the fusion target object is highly likely to have entered the blind spot, the driving support ECU prohibits the lane changing support control to a lane in the side of this blind spot area.
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Citations
9 Claims
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1. A lane changing support apparatus comprising:
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a plurality of radar sensors, each of which transmits radar wave to surroundings of an own vehicle to detect a reflection point of a three-dimensional object of said radar wave as a sensor target object, and detects position-and-speed information to specify a position and a speed of said detected sensor target object with respect to said own vehicle; target object specifying means for specifying, every time a predetermined time elapses, a determinative target object indicative of a three-dimensional object present around said own vehicle using said position-and-speed information; control execution means for performing a lane changing support control to control a steering angle of said own vehicle so as to support a traveling of said own vehicle when said vehicle changes lanes from an own lane in which said own vehicle is traveling to a target adjacent lane adjacent to said own lane; and control prohibiting means; for, in a case where said sensor target object corresponding to a previous determinative target object which is said determinative target object specified said predetermined time before is not detected, determining that it is highly likely that an attention determinative target object has entered a blind spot area in which any of said radar sensors cannot detect any of said sensor target objects to prohibit said control execution means from performing said lane changing support control, when a blind spot area entering determination condition is satisfied, said blind spot area entering determination condition including a first condition and a second condition, said first condition being a condition satisfied when a magnitude of a speed relative to said own vehicle of said attention determinative target object being said previous determinative target object to which said target object which is not detected corresponds is smaller than a threshold relative speed, and said second condition being a condition satisfied when a position of said attention determinative target object with respect to said own vehicle is within a blind spot area entering determination area which includes a whole of said blind spot area. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification