APPARATUS AND METHOD FOR LANE CHANGE CONTROL

• US 20190315360A1
• Filed: 11/29/2018
• Published: 10/17/2019
• Est. Priority Date: 04/11/2018
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Kim, Hoi Won, Jeon, Jae Yong, Kim, Beom Jun, Oh, Dong Eon, Park, Chan Il, Jeong, Jin Su, Um, Doo Jin
• Granted Patent: US 10,836,394 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2050/0066 using buttons or a keyboard connected to the on-board processor
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/30 Driving style
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 30/085 Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
• 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: B60W 40/09 Driving style or behaviour
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: B60W 50/085 Changing the parameters of the control units, e.g. changing limit values, working points by control input
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

An apparatus for lane change control for a vehicle may include: a determination device to determine lane change conditions for a first vehicle and a second vehicle, which are each travelling in a target lane to which a host vehicle performs a lance change; and a controller to perform the lane change control for the host vehicle when both the lane change conditions for the first and second vehicles are met. In particular, the first vehicle is located behind the host vehicle, and the second vehicle is located in front of the host vehicle.

Claims

1. An apparatus for a lane change control, comprising:

a determination device configured to determine lane change conditions for a first vehicle and a second vehicle, which are each travelling in a target lane to which a host vehicle performs a lane change, wherein the first vehicle is located behind the host vehicle, and the second vehicle is located in front of the host vehicle; and

a controller configured to perform the lane change control for the host vehicle when both the lane change conditions for the first and second vehicles are met.

2. The apparatus according to claim 1, further comprising:

a calculation device configured to calculate a first critical distance based on a vehicle speed of the first vehicle and a vehicle speed of the host vehicle and to calculate a second critical distance based on a vehicle speed of the second vehicle and the vehicle speed of the host vehicle.

3. The apparatus according to claim 2, wherein the determination device is configured to:

when the first and second critical distances are greater than or equal to a reference distance, determine that both the lane change conditions for the first and second vehicles are met.

4. The apparatus according to claim 2, further comprising:

a prediction device configured to determine a speed adjustment range of the host vehicle based on lane change configuration information preset by a driver of the host vehicle when the first critical distance or the second critical distance is less than a reference distance, and configured to predict whether a lane change is possible with acceleration or deceleration of the host vehicle.

5. The apparatus according to claim 4, wherein the lane change configuration information comprises a maximum speed difference for allowing acceleration and a maximum speed difference for allowing deceleration.

6. The apparatus according to claim 5, wherein the prediction device is configured to:

determine the speed adjustment range based on the maximum speed difference for allowing acceleration and the maximum speed difference for allowing deceleration

7. The apparatus according to claim 6, wherein the prediction device is configured to:

determine that the lane change is possible with the acceleration, when at least one first speed capable of performing the lane change is found within the speed adjustment range corresponding to the maximum speed difference for allowing acceleration based on a setting speed of the host vehicle.

8. The apparatus according to claim 7, wherein the controller is configured to:

determine a target speed with respect to a lower value among the at least one first speed, when the lane change is possible with the acceleration.

9. The apparatus according to claim 6, wherein the prediction device is configured to:

determine that the lane change is possible with the deceleration, when at least one second speed capable of performing the lane change is found within the speed adjustment range corresponding to the maximum speed difference for allowing deceleration based on a setting speed of the host vehicle.

10. The apparatus according to claim 9, wherein the controller is configured to:

when it is determined that the lane change by the deceleration is possible, determine a target speed for the lane change control based on a higher value among the at least one second speed.

11. The apparatus according to claim 4, wherein the lane change configuration information comprises driving pattern information of the driver of the host vehicle during the lane change control, and the driving pattern includes a constant speed driving, an acceleration in driving, a deceleration in driving, and a selection thereof by the driver.

12. The apparatus according to claim 11, wherein the controller is configured to:

when the lane change is possible with the acceleration or the deceleration, determine a target speed of the host vehicle based on the acceleration in driving or the deceleration in driving, and the driving pattern information.

13. The apparatus according to claim 12, wherein the controller is configured to:

when the driving pattern information shows the constant speed driving pattern of the driver, determine the target speed of the host vehicle based on a lowest value among differences between a setting speed of the host vehicle and speeds capable of performing the lane change within the speed adjustment range.

14. The apparatus according to claim 12, wherein the controller is configured to:

when the driving pattern information shows the selection pattern by the driver, display an information screen on a display and to inquire the driver to select the acceleration or the deceleration for the lane change; and

determine the target speed of the host vehicle based on the selection by the driver through the information screen.

15. A method for a lane change control, the method comprising:

determining, by a determination device, lane change conditions for a first vehicle and a second vehicle, wherein the first vehicle is located behind the host vehicle, and the second vehicle is located in front of the host vehicle; and

performing, by a controller, the lane change control for the host vehicle based on a set target speed, when both the lane change conditions for the first and second vehicles are met.

16. The method of claim 15, further comprising:

calculating, by a calculating device, a first critical distance based on a vehicle speed of the first vehicle and a vehicle speed of the host vehicle; and

calculating, by the calculating device, a second critical distance based on a vehicle speed of the second vehicle and the vehicle speed of the host vehicle.

17. The method according to claim 16, wherein determining the lane change conditions comprises:

when the first and second critical distances are greater than or equal to a reference distance, determining that both the lane change conditions for the first and second vehicles are met.

18. The method according to claim 16, further comprising:

determining, by a prediction device, a speed adjustment range of the host vehicle based on lane change configuration information preset by a driver of the host vehicle when the first critical distance or the second critical distance is less than a reference distance, and predicting whether a lane change is possible with an acceleration in driving or a deceleration in driving of the host vehicle within the speed adjustment range;

when the lane change is possible with the acceleration or the deceleration of the host vehicle, determining the target speed of the host vehicle based on the acceleration or the deceleration of the host vehicle, as well as driving pattern information of the driver of the host vehicle, wherein the driving pattern information is included in the lane change configuration information; and

performing the lane change control based on the determined target speed.

19. The method according to claim 18, wherein the lane change configuration information comprises a maximum speed difference for allowing acceleration and a maximum speed difference for allowing deceleration, and

wherein predicting whether the lane change is possible comprises:

determining that the lane change is possible with the acceleration, when at least one first speed capable of performing the lane change is found within the speed adjustment range corresponding to the maximum speed difference for allowing acceleration based on a setting speed of the host vehicle; and

determining that the lane change is possible with the deceleration, when at least one second speed capable of performing the lane change is found within the speed adjustment range corresponding to the maximum speed difference for allowing deceleration based on the setting speed of the host vehicle.

20. The method according to claim 18, wherein the driving pattern information of the driver comprises a constant speed driving, an acceleration in driving, a deceleration in driving, or a selection thereof by the driver during the lane change control;

and

wherein determining the target speed comprises;

when the driving pattern information shows the selection pattern by the driver, displaying an information screen on a display and inquiring the driver to select the acceleration or the deceleration for the lane change; and

determining the target speed of the host vehicle based on the selection by the driver through the information screen.