Drive assist system

• US 8,165,776 B2
• Filed: 08/20/2008
• Issued: 04/24/2012
• Est. Priority Date: 09/27/2007
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi, Ltd.
• Inventors: Sugawara, Toshiharu, Yokoyama, Atsushi, Nishigaito, Takaomi, Hoshino, Masatoshi, Yoshida, Tatsuya, Kubo, Jun, Saito, Shinjiro
• Primary Examiner(s): Algahaim, Helal A
• Application Number:
  US12/194,887
• Publication Number:
  US 20090088925A1
• Time in Patent Office: 1,343 Days
• Field of Search: 701/1, 701/36, 701/41, 701/70, 701/93, 701/96, 701/301, 340/901, 340/903, 340/435, 340/436
• US Class Current: 701/96
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60W 30/12 Lane keeping

Abstract

A drive assist system includes an assist starting part starting assist, a detection part detecting relative distances and speeds between a vehicles, a calculation part calculating collision risks when changing a lane by the basis of the relative distances and speeds, a first judgment part judging whether the lane can be changed by the relative distances, speeds and the collision risks, a decision part deciding a target space for lane change by the relative distances and speeds when the lane cannot be changed, a second judgment part judging whether a lane changeable space is in the target space, a setting part setting a target speed for the vehicle go to a lane change waiting position when no space and to setting a target speed the vehicle enters a lane changeable position when there is the space, and a control part controlling a speed of the vehicle reaches the target speed.

Claims

1. A drive assist system comprising:

an assist starting part to start assist of lane change on a basis of an input of an input device;

a detection part to detect relative distances and relative speeds between a vehicle and other vehicles;

a calculation part to calculate collision risks to the other vehicles at a time that the vehicle changes a lane on a basis of the relative distances and the relative speeds detected by the detection part;

a first judgment part to judge whether the lane can be changed or not on the basis of the relative distances, the relative speeds and the collision risks;

a decision part to decide a target space for lane change on the basis of the relative distances and the relative speeds when the first judgment part judges that the lane cannot be changed;

a second judgment part to judge whether there is a lane changeable space in the target space or not;

a speed setting part to set a target speed for making the vehicle go to a lane change waiting position, the lane change waiting position representing a position in which a relative distance between the vehicle and a forward vehicle in the target space is shorter than a relative position between the vehicle and a following vehicle in the target space, when the second judgment part judges that there is not a lane changeable space and to set the target speed for making the vehicle go to a lane changeable position when the second judgment part judges that there is the space; and

a control part to make control so that a speed of the vehicle reaches the target speed.

2. A drive assist system according to claim 1, wherein

the lane changeable position represents a position in which the first judgment part judges that the lane can be changed.

3. A drive assist system according to claim 1, wherein

a condition that speed control for making the vehicle go to the lane change waiting position is ended corresponds to at least one of a case where it is judged that there is a safely lane changeable space in the target space, a case where driver'"'"'s input for ending lane change is detected, a case where speed control continues during predetermined time or more and a case where a driver starts lane change.

4. A drive assist system according to claim 1, wherein

a condition that lane change assist is not started corresponds to at least one of a case where a start input from the input device is not detected, a case where an end input from the input device is detected, a case where speed control continues during predetermined time or more and a case where failure is detected in the system.

5. A drive assist system according to claim 1, further comprising:

an intention indication part to indicate intention of lane change to neighboring vehicles using at least one of indication by winkers, control of making the vehicle move along a boundary with an adjacent lane to which the vehicle is desired to be changed and offer of information to a vehicle on a lane to which the vehicle is to transfer by vehicle-to-vehicle communication.

6. A drive assist system according to claim 1, wherein

the collision risk represents time to collision of the vehicle with the neighboring vehicles.

7. A drive assist system according to claim 6, wherein

a condition that the lane can be changed corresponds to any one of:

a case where the relative distance between the vehicle and the forward vehicle in the target space at the time that the lane is changed is longer than or equal to a first predetermined value and the time to collision is longer than or equal to a second predetermined value, the relative distance between the vehicle and the following vehicle in the target space at the time that the lane is changed being longer than or equal to a third predetermined value, the time to collision being longer than or equal to a fourth predetermine time; and

a case where the relative distance between the vehicle and the forward vehicle in the target space at the time that the lane is changed is longer than or equal to the first predetermined value and the relative speed thereof is slower than or equal to a fifth predetermined value, the relative distance between the vehicle and the following vehicle in the target space at the time that the lane is changed being longer than or equal to the third predetermined value, the relative speed thereof being slower than or equal to a sixth predetermine time.

8. A drive assist system according to claim 7, wherein

the case where there is the lane changeable space in the target space corresponds to a case where the target space is longer than or equal to a sum of the first predetermined value, the third predetermined value and the total length of the vehicle.

9. A drive assist system according to claim 1, further comprising:

an indication change part to change indication by an alarm or a warning lamp in accordance with the collision risk when it is judged that the lane cannot be changed.

10. A drive assist system according to claim 1, further comprising

a selection part to, when lane change intention of the vehicle is detected while it is judged that the lane cannot be changed, select at least one operation of the following:

warning that there is danger of collision;

putting out force to stay the vehicle within its own lane by means of steering or braking; and

stopping speed control.

11. A drive assist system according to claim 1, further comprising:

a space setting part to, when a vehicle nearest to the vehicle is set as a standard vehicle upon lane change and the vehicle cannot go before and behind the standard vehicle immediately, set the target space in the front of the standard vehicle and to, when the vehicle can go before and behind the standard vehicle immediately, set the target space in the rear of the standard vehicle.

12. A drive assist system according to claim 1, further comprising:

a space setting part to, when a vehicle nearest to the vehicle is set as a standard vehicle upon lane change and the vehicle can go behind and before the standard vehicle immediately, set the target space in the front of the standard vehicle and to, when the vehicle cannot go behind and before the standard vehicle immediately, set the target space in the rear of the standard vehicle.

13. A drive assist system according to claim 1, further comprising:

a speed adjustment indication part to indicate to the driver that speed adjustment is performed before the speed adjustment; and

a speed adjustment starting part to start the speed adjustment in response to driver'"'"'s start input of speed adjustment assist.

14. A drive assist system according to claim 1, further comprising

an indication part to display at least one of the target space and acceleration and deceleration of the vehicle generated for the speed adjustment during speed control.

15. A drive assist system according to claim 7, wherein

the target speed setting of the vehicle controlled to go to the lane change waiting position and the target speed setting of the vehicle controlled to go to the lane changeable position mean that

a virtual spring-damper model which functions when the relative distance between the vehicle and the forward vehicle in the target space is shorter than or equal to the first predetermined value and puts out force in accordance with the relative distance is provided before the vehicle and a virtual spring-damper model which functions when the relative distance between the vehicle and the following vehicle in the target space is shorter than or equal to the third predetermined value and puts out force in accordance with the relative distance is provided behind the vehicle, so that the target speed of the vehicle is set on the basis of resultant force of forces put out by the spring-damper models provided before and behind the vehicle.

16. A drive assist system according to claim 1, further comprising:

a lane change start condition satisfaction judgment part to control start and end of lane change assist;

an ego-and-other-vehicle information calculation part to calculate information of relative distances and relative speeds between the vehicle and the neighboring vehicles;

a lane change propriety judgment part to calculate collision risks for the neighboring vehicles at the time that the vehicle changes the lane on the basis of the information and judge whether the vehicle can change the lane or not on the basis of the collision risks;

a target space decision part to decide a space for lane change on the basis of relative positions and relative speeds between the vehicle and the neighboring vehicles when it is judged that the lane cannot be changed;

a space-in-target space presence judgment part to judge whether there is a safely lane changeable space in the target space or not on the basis of the target space and the relative positions between the vehicle and the neighboring vehicles;

a lane change target speed calculation part to calculate a lane change target speed on the basis of the target space, the relative positions and the relative speeds between the vehicle and the neighboring vehicles and presence of the target space;

a speed control part to calculate target acceleration and target deceleration on the basis of the lane change target speed and the speed of the vehicle;

a throttle control part to control a throttle on the basis of the target acceleration; and

a brake control part to control a brake on the basis of the target deceleration.

17. A drive assist system according to claim 16, further comprising

a target speed selection part to select any one of the lane change target speed and an adaptive cruise control (ACC) target speed selected by the driver in adaptive cruise control (ACC) as a final target speed.

18. A drive assist system according to claim 1, further comprising

a lane change part to detect a relative position between the vehicle and the lane when it is judged that the lane can be changed and to control steering on the basis of the relative position and the speed of the vehicle to change the lane.

19. A drive assist system according to claim 1, wherein

the input device comprises winkers.