Lane change assist device

• US 10,600,324 B2
• Filed: 05/29/2018
• Issued: 03/24/2020
• Est. Priority Date: 06/06/2017
• 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): Ziaeianmehdizadeh, Navid
• Application Number:
  US15/991,058
• Publication Number:
  US 20180350242A1
• Time in Patent Office: 665 Days
• Field of Search: None
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 30/12 Lane keeping
• 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: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A first limiter limits a first target steering angle correspondence value by a first steering angle correspondence value guard which defines the upper limit value of the steering angle correspondence value and is larger than a steering angle correspondence value guard at lane change time and limits a first target steering angular velocity correspondence value by a first steering angular velocity correspondence value guard which defines the upper limit value of the steering angular velocity correspondence value and is larger than a steering angular velocity correspondence value guard at lane change time. An actuator controller for first yaw angle return control which is configured to control an actuator to operate a steering wheel so that steering angle correspondence value becomes a first target steering angle correspondence value and a steering angular velocity correspondence value becomes a first target steering angular velocity correspondence value.

Claims

1. A lane change assist device comprising:

surrounding sensors that monitor a surrounding of an own vehicle;

a camera sensor that recognizes a compartment line defining a side edge portion of a lane on which the own vehicle is traveling, and detects a relative position of the own vehicle in a lane width direction with respect to the lane on which the own vehicle is traveling and detects a yaw angle with respect to an extension direction of the lane on which the own vehicle is traveling based on a positional relationship between the compartment line and the own vehicle;

a steering motor that generates a driving force for changing a steering angle correspondence value which is a steering angle of a steering wheel of the own vehicle or is a torque corresponding to the steering angle and changing a steering angular velocity correspondence value which is a steering angular velocity being a change amount of the steering angle per unit time or a torque change rate being a change amount of the torque corresponding to the steering angular velocity per unit time;

an electronic control unit (ECU) programmed to;

start lane change assist control at a predetermined lane change start time, wherein the steering motor is controlled under the lane change assist control so that the own vehicle makes a lane change from an original lane on which the own vehicle is traveling to a target lane which is adjacent to the original lane based on the relative position detected by the camera sensor;

at lane change time, limit the steering angle correspondence value when the lane change assist control is executed by a steering angle correspondence value guard at lane change time defining an upper limit value of the steering angle correspondence value and to limit the steering angular velocity correspondence value when the lane change assist control is executed by a steering angular velocity correspondence value guard at lane change time defining an upper limit value of the steering angular velocity correspondence value;

make the lane change assist controller interrupt the lane change assist control when a predetermined first interruption condition is established after the lane change assist control is started, the first interruption condition being established when it is determined that a time to collision of the own vehicle with another vehicle travelling on the target lane is less than a predetermined threshold based on a monitoring result of the surrounding sensors;

calculate a first target steering angle correspondence value which is a target value of the steering angle correspondence value and a first target steering angular velocity correspondence value which is a target value of the steering angular velocity correspondence value, both the first target steering angle correspondence value and the first target steering angular velocity correspondence value being used for executing first yaw angle return control, the first yaw angle return control being started at a predetermined first start time when the first interruption condition is established, wherein the actuator is controlled under the first yaw angle return control so that the yaw angle at a first finish time becomes a value closer to the yaw angle at the lane change start time compared with the yaw angle at the first start time, the first finish time coming when a predetermined first control execution time passes from the first start time;

limit the first target steering angle correspondence value by a first steering angle correspondence value guard which defines the upper limit value of the steering angle correspondence value and is larger than the steering angle correspondence value guard at lane change time and to limit the first target steering angular velocity correspondence value by a first steering angular velocity correspondence value guard which defines the upper limit value of the steering angular velocity correspondence value and is larger than the steering angular velocity correspondence value guard at lane change time; and

control the steering motor to operate the steering wheel so that the steering angle correspondence value becomes the first target steering angle correspondence value and the steering angular velocity correspondence value becomes the first target steering angular velocity correspondence value, wherein the first target steering angle correspondence value and the first target steering angular velocity correspondence value are limited.

2. The lane change assist device according to claim 1, wherein the ECU is further programmed to:

make the lane change assist controller interrupt the lane change assist control when a predetermined second interruption condition is established after the lane change assist control is started, the second interruption condition being established when the camera sensor cannot detect the relative position;

calculate a second target steering angle correspondence value which is a target value of the steering angle correspondence value and a second target steering angular velocity correspondence value which is a target value of the steering angular velocity correspondence value, both the second target steering angle correspondence value and the second target steering angular velocity correspondence value being used for executing second yaw angle return control, the second yaw angle return control being started at a predetermined second start time when the second interruption condition is established, wherein the steering motor is controlled under the second yaw angle return control so that the yaw angle at a second finish time becomes a value closer to the yaw angle at the lane change start time compared with the yaw angle at the second start time, the second finish time coming when a predetermined second control execution time which is longer than the first control execution time passes from the second start time;

limit the second target steering angle correspondence value by a second steering angle correspondence value guard which defines an upper limit value of the steering angle correspondence value and is smaller than the first steering angle correspondence value guard and to limit the second target steering angular velocity correspondence value by a second steering angular velocity correspondence value guard which defines an upper limit value of the steering angular velocity correspondence value and is smaller than the first steering angular velocity correspondence value guard; and

control the steering motor to operate the steering wheel so that the steering angle correspondence value becomes the second target steering angle correspondence value and the steering angular velocity correspondence value becomes the second target steering angular velocity correspondence value, wherein the second target steering angle correspondence value and the second target steering angular velocity correspondence value are limited.