Lane change assist device

• US 10,668,920 B2
• Filed: 05/29/2018
• Issued: 06/02/2020
• 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:
  US15/991,169
• Publication Number:
  US 20180345960A1
• Time in Patent Office: 735 Days
• Field of Search: None
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• 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: 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: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

The first yaw angle return control is started at a first start time when the first interruption condition is established. The actuator is controlled under the first yaw angle return control so that yaw angle at a first finish time becomes a value closer to yaw angle at the lane change start time compared with yaw angle at the first start time. The first finish time comes when a first control execution time passes from the first start time. The actuator is controlled under the second yaw angle return control so that yaw angle at a second finish time becomes a value closer to yaw angle at the lane change start time compared with yaw angle at the second start time. The second finish time comes when a second control execution time longer than the first control execution time passes from the second start time.

Claims

1. A lane change assist device comprising:

a first sensor configured to monitor a surrounding of an own vehicle;

a second sensor configured to recognize a compartment line defining a side edge portion of a lane on which the own vehicle is traveling, and to detect 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 detect 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;

an actuator configured to be capable of generating a driving force for changing a steered angle of a steered wheel of the own vehicle;

an electronic control unit (ECU) configured to;

start lane change assist control at a predetermined lane change start time, wherein the actuator 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 second sensor;

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 colliding with another vehicle travelling on the target lane is less than a threshold based on a monitoring result of the first sensor;

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 second sensor cannot detect the relative position; and

execute first yaw angle return control and second yaw angle return control,

wherein,

the first yaw angle return control is started at a predetermined first start time when the first interruption condition is established,

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 occurring when a predetermined first control execution time elapses from the first start time,

the second yaw angle return control is started at a predetermined second start time when the second interruption condition is established,

the actuator 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 occurring when a predetermined second control execution time longer than the first control execution time elapses from the second start time.

2. The lane change assist device according to claim 1, wherein,

the second sensor is a camera sensor, and

the ECU is further configured to:

calculate a target trajectory function representing a target lateral position which is a target position of the own vehicle in the lane width direction according to an elapsed time from the lane change start time;

sequentially calculate the target lateral position during execution of the lane change assist control based on the target trajectory function and the elapsed time;

sequentially acquire vehicle speed of the own vehicle and to sequentially calculate target yaw state amount which is a target value relating to movement for changing a direction of the own vehicle based on the target trajectory function, the elapsed time and the vehicle speed during execution of the lane change assist control;

control the actuator based on the target lateral position and the target yaw state amount;

calculate a first integral value acquired by integrating a target curvature which is a curvature of a path of the own vehicle and is defined by the target trajectory function with respect to time from the lane change start time to the first start time;

calculate a first target control amount which is a target control amount between the first start time and the first finish time based on a value corresponding to the first integral value;

control the actuator based on the first target control amount during execution of the first yaw angle return control;

calculate a second integral value acquired by integrating the target curvature with respect to time from the lane change start time to the second start time;

calculate a second target control amount which is a target control amount between the second start time and the second finish time based on a value corresponding to the second integral value; and

control the actuator based on the second target control amount during execution of the second yaw angle return control.

3. The lane change assist device according to claim 1, wherein

the ECU is further configured to:

execute original lane return control under which the actuator is controlled so that the own vehicle approaches a predetermined position of the original lane in the lane width direction after completion of the first yaw angle return control when the time to collision of the own vehicle colliding with another vehicle in the case where the own vehicle approaches the predetermined position is greater than or equal to the threshold; and

continue the original lane return control until the own vehicle reaches the predetermined position regardless of whether or not the second interruption condition is established.