LANE FOLLOWING CONTROL DEVICE

• US 20160221604A1
• Filed: 12/17/2015
• Published: 08/04/2016
• Est. Priority Date: 01/29/2015
• Status: Active Grant

• Current Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: YAMAOKA, Masaaki
• Granted Patent: US 9,809,251 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence

Abstract

Provided is a lane following control device in which an uncomfortable feeling of a driver can be suppressed.

In a case where shift processing is performed on a first adjacent vehicle X1, and when a distance between a second adjacent vehicle X2 travelling immediately front of the first adjacent vehicle X1 and the first adjacent vehicle X1 is equal to or less than a vehicle-to-vehicle distance threshold value and a lane width direction distance between the second adjacent vehicle X2 and a travelling lane R1 of the host vehicle V is equal to or less than a lane width direction threshold value, a target lateral position setting unit 14 maintains the shift processing on the first adjacent vehicle X1 until the shift processing is performed on the second adjacent vehicle X2.

Claims

1. A lane following control device configured to control a travelling of a host vehicle such that the lateral position of the host vehicle becomes a target lateral position which is set at a middle position of a travelling lane, the device comprising:

an adjacent vehicle detection unit configured to detect an adjacent vehicle travelling on an adjacent lane which is adjacent to the travelling lane of the host vehicle;

a shifting unit configured to perform shift processing for shifting the target lateral position in the travelling lane from a middle position so as to be separated from the adjacent lane in a case where a travelling direction distance between the adjacent vehicle detected by the adjacent vehicle detection unit and the host vehicle is equal to or less than a travelling direction threshold value and in a case where a lane width direction distance between the adjacent vehicle detected by the adjacent vehicle detection unit and the travelling lane of the host vehicle is equal to or less than a lane width direction threshold value; and

a control unit configured to control the travelling of the host vehicle according to the target lateral position,

wherein, in a case where the shift processing is performed on a first adjacent vehicle which is closest to the host vehicle among the adjacent vehicles detected by the adjacent vehicle detection unit and travelling in front of the host vehicle, and when a distance between a second adjacent vehicle travelling immediately front of the first adjacent vehicle in the adjacent lane and the first adjacent vehicle is equal to or less than a vehicle-to-vehicle distance threshold value and when a lane width direction distance between the second adjacent vehicle and the travelling lane of the host vehicle is equal to or less than the lane width direction threshold value, the shifting unit maintains the shift processing on the first adjacent vehicle until the shift processing is performed on the second adjacent vehicle.

2. The lane following control device according to claim 1,

wherein, in a case where the shift processing is performed on the first adjacent vehicle, and in a case where a distance between the second adjacent vehicle and the first adjacent vehicle is greater than the vehicle-to-vehicle distance threshold value and a lane width direction distance between the second adjacent vehicle and the travelling lane of the host vehicle is equal to or less than the lane width direction threshold value and a speed of the host vehicle is higher than a speed of the second adjacent vehicle,

the shifting unit calculates a relative speed between the host vehicle and the second adjacent vehicle, a relative distance between the host vehicle and the second adjacent vehicle, or a middle position travelling time which is a duration from the time when the shift processing on the first adjacent vehicle ends and the host vehicle is returned to the middle position to the time when the host vehicle is separated again from the middle position by the shift processing being performed on the second adjacent vehicle, and

wherein, when the relative speed is greater than a relative speed threshold value, the relative distance is equal to or less than a relative distance threshold value, or the middle position travelling time is equal to or less than a travelling time threshold value, the shifting unit maintains the shift processing on the first adjacent vehicle until the shift processing is performed on the second adjacent vehicle.

5. The lane following control device according to claim 1,

wherein, as the relative speed between the host vehicle and the second adjacent vehicle is greater, the vehicle-to-vehicle distance threshold value is set to be greater.

3. A lane following control device configured to control a travelling of a host vehicle such that the lateral position of the host vehicle becomes a target lateral position which is set at a middle position of a travelling lane, the device comprising:

an adjacent vehicle detection unit configured to detect an adjacent vehicle travelling on an adjacent lane which is adjacent to the travelling lane of the host vehicle;

a shifting unit configured to perform shift processing for shifting the target lateral position in the travelling lane from a middle position so as to be separated from the adjacent lane in a case where a travelling direction distance between the adjacent vehicle detected by the adjacent vehicle detection unit and the host vehicle is equal to or less than a travelling direction threshold value and in a case where a lane width direction distance between the adjacent vehicle detected by the adjacent vehicle detection unit and the travelling lane of the host vehicle is equal to or less than a lane width direction threshold value; and

a control unit configured to control the travelling of the host vehicle according to the target lateral position,

wherein, in a case where the shift processing is performed on a first adjacent vehicle which is closest to the host vehicle among the adjacent vehicles detected by the adjacent vehicle detection unit and travelling behind the host vehicle, and when a distance between a second adjacent vehicle travelling immediately behind the first adjacent vehicle in the adjacent lane and the first adjacent vehicle is equal to or less than a vehicle-to-vehicle distance threshold value and when a lane width direction distance between the second adjacent vehicle and the travelling lane of the host vehicle is equal to or less than the lane width direction threshold value, the shifting unit maintains the shift processing on the first adjacent vehicle until the shift processing is performed on the second adjacent vehicle.

4. The lane following control device according to claim 3,

wherein, in a case where the shift processing is performed on the first adjacent vehicle, and in a case where a distance between the second adjacent vehicle and the first adjacent vehicle is greater than the vehicle-to-vehicle distance threshold value and a lane width direction distance between the second adjacent vehicle and the travelling lane of the host vehicle is equal to or less than the lane width direction threshold value and a speed of the host vehicle is lower than a speed of the second adjacent vehicle,

the shifting unit calculates a relative speed between the host vehicle and the second adjacent vehicle, a relative distance between the host vehicle and the second adjacent vehicle, and a middle position travelling time which is a duration from the time when the shift processing on the first adjacent vehicle ends and the host vehicle is returned to the middle position to the time when the host vehicle is separated again from the middle position by the shift processing being performed on the second adjacent vehicle, and

wherein, when the relative speed is greater than a relative speed threshold value, the relative distance is equal to or less than a relative distance threshold value, or the middle position travelling time is equal to or less than a travelling time threshold value, the shifting unit maintains the shift processing on the first adjacent vehicle until the shift processing is performed on the second adjacent vehicle.