LANE CHANGE ASSISTANCE DEVICE
First Claim
Patent Images
1. A lane change assistance device comprising:
- a surrounding detector that detects a surrounding situation of a vehicle;
a lane keep controller that executes lane keep control by using a detection result of a lane mark by the surrounding detector;
a lane change determination controller that determines whether lane change is available or unavailable by using the detection result of the lane mark by the surrounding detector during the lane keep control by the lane keep controller; and
a notification device that makes notification of a determination result by the lane change determination controller,wherein the surrounding detector detects a change position at which a type of the lane mark is switched from one to another, andwherein the lane change determination controller outputs a determination result whether the lane change is available or unavailable by using the type of the lane mark ahead of the change position to the notification device at a time point at which the vehicle has reached a predetermined range including the change position and extending toward the vehicle.
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Abstract
A surrounding information acquisition section and a recognition unit (a surrounding detection unit) detect a first position (a change position) at which the type of a lane mark is switched. A lane change determination unit outputs a determination result whether lane change is available or unavailable on the basis of the type of the lane mark ahead of the first position to a notification mechanism (a notification unit) at a time point at which a vehicle has reached a predetermined range including the first position. The notification mechanism makes notification of the determination result.
57 Citations
14 Claims
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1. A lane change assistance device comprising:
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a surrounding detector that detects a surrounding situation of a vehicle; a lane keep controller that executes lane keep control by using a detection result of a lane mark by the surrounding detector; a lane change determination controller that determines whether lane change is available or unavailable by using the detection result of the lane mark by the surrounding detector during the lane keep control by the lane keep controller; and a notification device that makes notification of a determination result by the lane change determination controller, wherein the surrounding detector detects a change position at which a type of the lane mark is switched from one to another, and wherein the lane change determination controller outputs a determination result whether the lane change is available or unavailable by using the type of the lane mark ahead of the change position to the notification device at a time point at which the vehicle has reached a predetermined range including the change position and extending toward the vehicle. - View Dependent Claims (2, 3, 8, 9)
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4. A lane change assistance device comprising:
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a surrounding detector that detects a surrounding situation of a vehicle; a lane keep controller that executes lane keep control by using a detection result of a lane mark by the surrounding detector; a lane change determination controller that determines whether lane change is available or unavailable by using the detection result of the lane mark by the surrounding detector during the lane keep control by the lane keep controller; and a lane change controller that executes lane change control if the lane change determination controller determines that the lane change is available, wherein the surrounding detector detects a change position at which a type of the lane mark is switched from one to another, and wherein, if the lane change determination controller determines that the lane change is available by using the type of the lane mark ahead of the change position, the lane change controller starts the lane change control at a time point at which the vehicle has reached a predetermined range including the change position and extending toward the vehicle, and in contrast, if the lane change determination controller determines that the lane change is unavailable by using the type of the lane mark ahead of the change position, the lane change controller does not execute the lane change control at the time point at which the vehicle has reached the predetermined range including the change position. - View Dependent Claims (5, 6, 7, 10, 11, 12)
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13. A lane change assistance method comprising steps of:
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detecting, by a computer, a surrounding situation of a vehicle; executing, by the computer, lane keep control by using a detection result of a lane mark in the detecting step; determining, by the computer, whether lane change is available or unavailable by using the detection result of the lane mark during executing the lane keep control, and making notification of a determination result, wherein the detecting step detects a change position at which a type of the lane mark is switched from one to another, and wherein the determining step notifies the determination result whether the lane change is available or unavailable by using the type of the lane mark ahead of the change position at a time point at which the vehicle has reached a predetermined range including the change position and extending toward the vehicle.
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14. A lane change assistance method comprising steps of:
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(i) detecting, by a computer, a surrounding situation of a vehicle; (ii) executing, by the computer, lane keep control by using a detection result of a lane mark in the detecting step; (iii) determining, by the computer, whether lane change is available or unavailable by using the detection result of the lane mark during executing the lane keep control; and (iv) executing, by the computer, lane change control if the determining step determines that the lane change is available, wherein the detecting step (i) detects a change position at which a type of the lane mark is switched from one to another, and wherein, if the determining step (iii) determines that the lane change is available by using the type of the lane mark ahead of the change position, the executing step (iv) starts the lane change control at a time point at which the vehicle has reached a predetermined range including the change position and extending toward the vehicle, and in contrast, if the determining step (iii) determines that the lane change is unavailable by using the type of the lane mark ahead of the change position, the executing step (iv) does not execute the lane change control at the time point at which the vehicle has reached the predetermined range including the change position.
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Specification