Apparatus, program and method for collision avoidance support
First Claim
1. A collision avoidance support apparatus for providing lane change support for an own vehicle when the own vehicle moves from a currently-traveling lane to an adjacent lane, the apparatus comprising:
- a constant-speed targeting unit for setting as a target space a right-beside area of the own vehicle in the adjacent lane for constant-speed lane change of the own vehicle at a current speed;
an alt-speed targeting unit for setting as a target space at least one diagonally-side area of the own vehicle in the adjacent lane for altered-speed lane change of the own vehicle, wherein the diagonally-side area includes a forward extension of the right-beside area when the own vehicle is required to accelerate before moving to the target space in the adjacent lane, and wherein the diagonally-side area includes a backward extension of the right-beside area when the own vehicle is required to decelerate before moving to the target space in the adjacent lane;
a vehicle detection unit for detecting a position of an other vehicle that is traveling in the adjacent lane;
a target extraction unit for extracting, from among target spaces set by each of the targeting units, a target space that is free of the other vehicle based on the detected position of the other vehicle from the vehicle detection unit; and
a lane change determination unit for determining whether to perform a lane change, wherein the determination of whether to perform the lane change is one of (a) the lane change of the own vehicle is unsafe when each of the right-beside area and the diagonally-side areas in the adjacent lane is occupied by at least one other vehicle, (b) the lane change of the own vehicle to the right-beside area is safe at the current speed when the right-beside area in the adjacent lane is not occupied by the other vehicle, and (c) the lane change of the own vehicle to the diagonally-side area is safe after acceleration or deceleration when the diagonally-side area with the forward extension or with the backward extension in the adjacent lane is not occupied by the other vehicle.
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Accused Products
Abstract
A collision avoidance support apparatus sets a side area right beside an own vehicle in an adjacent lane as a constant-speed target space, which is used for lane change at a constant speed, and also sets a diagonally-front area and a diagonally-rear area as alt-speed target spaces, which are used for lane change at an accelerated speed and at a decelerated speed. Then, a target space that is free of other vehicles is extracted by the apparatus. If there is no target space that is free of the other vehicles, the lane change is determined as unsafe. If there is no other vehicle in the constant-speed target space, the lane change is determined to be safe at the constant speed. If there is no other vehicle in at least one of the alt-speed target spaces, the lane change is determined to be safe at an accelerated speed or a decelerated speed.
38 Citations
20 Claims
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1. A collision avoidance support apparatus for providing lane change support for an own vehicle when the own vehicle moves from a currently-traveling lane to an adjacent lane, the apparatus comprising:
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a constant-speed targeting unit for setting as a target space a right-beside area of the own vehicle in the adjacent lane for constant-speed lane change of the own vehicle at a current speed; an alt-speed targeting unit for setting as a target space at least one diagonally-side area of the own vehicle in the adjacent lane for altered-speed lane change of the own vehicle, wherein the diagonally-side area includes a forward extension of the right-beside area when the own vehicle is required to accelerate before moving to the target space in the adjacent lane, and wherein the diagonally-side area includes a backward extension of the right-beside area when the own vehicle is required to decelerate before moving to the target space in the adjacent lane; a vehicle detection unit for detecting a position of an other vehicle that is traveling in the adjacent lane; a target extraction unit for extracting, from among target spaces set by each of the targeting units, a target space that is free of the other vehicle based on the detected position of the other vehicle from the vehicle detection unit; and a lane change determination unit for determining whether to perform a lane change, wherein the determination of whether to perform the lane change is one of (a) the lane change of the own vehicle is unsafe when each of the right-beside area and the diagonally-side areas in the adjacent lane is occupied by at least one other vehicle, (b) the lane change of the own vehicle to the right-beside area is safe at the current speed when the right-beside area in the adjacent lane is not occupied by the other vehicle, and (c) the lane change of the own vehicle to the diagonally-side area is safe after acceleration or deceleration when the diagonally-side area with the forward extension or with the backward extension in the adjacent lane is not occupied by the other vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of avoiding collision of an own vehicle that is moving from a currently-traveling lane to an adjacent lane in traffic, the method comprising:
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detecting a position of an other vehicle in the adjacent lane; detecting a travel speed of the own vehicle; calculating a relative speed of the other vehicle; defining a lane change target space in the adjacent lane, the target space defined as at at least one of a side position, a diagonally-front position, and a diagonally-rear position of the own vehicle; determining lane-changeability based on the defined lane change target space and the detected position of the other vehicle; and providing a lane change instruction that instructs either (a) to move to the adjacent lane when the determined lane-changeability is positive, or (b) to stay in the currently-traveling lane when the determined lane-changeability is not positive. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification