Lane change assist system

• US 8,219,298 B2
• Filed: 05/10/2005
• Issued: 07/10/2012
• Est. Priority Date: 05/17/2004
• Status: Expired due to Fees

• Current Assignee: Nissan Motor Co., Ltd.
• Original Assignee: Nissan Motor Co., Ltd.
• Inventors: Nishira, Hikaru, Kawabe, Taketoshi
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Amin, Bhavesh V
• Application Number:
  US11/125,389
• Publication Number:
  US 20050256630A1
• Time in Patent Office: 2,618 Days
• Field of Search: 701/1, 701/29, 701/41, 701/93, 701/96, 701/300, 701/301, 340/436, 340/438, 340/903, 340/933, 340/169, 340/435, 348/118, 182/104, 182/181, 250/208.1, 315/77, 180/169
• US Class Current: 701/96
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 40/04 Traffic conditions
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A lane change assist system is comprised of a host vehicle state detecting device that detects a host vehicle traveling condition, a surrounding vehicle detecting device that detects other vehicle located around the host vehicle, a lane detecting device that detects a lane around the host vehicle, and a processing unit. The processing unit is arranged to set a target lane, to determine a period of a lane change assist, to set a predicted period for an evaluation of a lane change to the target lane based on a prediction, to obtain an appropriate speed range during the predicted period for each gap, and to select a target vehicle speed from the appropriate speed range.

Claims

1. A lane change assist system comprising:

a host vehicle state detecting device configured to detect a traveling condition of a host vehicle;

a surrounding vehicle detecting device configured to detect a plurality of other vehicles located around the host vehicle;

a lane detecting device configured to detect a lane in which the host vehicle is traveling; and

a processing unit configured to

set a target lane for a lane change,

determine a start and an ending of a lane change assist,

set a predicted period for an evaluation of the lane change to the target lane,

determine locations of a plurality of gaps around at least one of the plurality of other vehicles that is located in the target lane,

obtain a plurality of appropriate speed ranges, at least one appropriate speed range for each of the plurality of gaps, and

select a target vehicle speed of the host vehicle from the plurality of appropriate speed ranges.

2. The lane change assist system as claimed in claim 1, further comprising a turn indicator configured to be manipulated by a driver of the host vehicle, wherein the processing unit is further configured to determine the target lane, and the start and ending of the predicted period, on the basis of a signal output from the turn indicator.

6. The lane change assist system as claimed in claim 1, wherein the processing unit is further configured to:

obtain the appropriate speed range for each of the gaps on the basis of an inter-vehicle distance and a relative speed between the host vehicle and a vehicle producing the corresponding gap on the target lane, and

eliminate at least a portion of at least one of the appropriate speed ranges on the basis of an inter-vehicle distance and a relative speed between the host vehicle and a preceding vehicle ahead of the host vehicle on the traveling lane.

7. The lane change assist system as claimed in claim 1, wherein the processing unit is further configured to eliminate at least a portion of at least one of the appropriate speed ranges on the basis of an upper limit and a lower limit which are previously set.

8. The lane change assist system as claimed in claim 1, wherein the processing unit is further configured to set the target vehicle speed on the basis of at least a criterion that a difference between the host vehicle speed and the target vehicle speed is small.

9. The lane change assist system as claimed in claim 1, wherein the processing unit is further configured to set the appropriate speed range at a speed range by which the host vehicle avoids an excessive approach to a preceding vehicle ahead of the host vehicle on the traveling lane and to select the target vehicle speed from the set appropriate speed range when the appropriate speed range is not found and a forcible lane change condition of requesting a forcible lane change is not satisfied.

11. The lane change assist system as claimed in claim 1, further comprising an alarm device for generating an alarm for a driver of the host vehicle, the alarm device generating the alarm when the appropriate speed range is not found.

12. The lane change assist system as claimed in claim 1, further comprising a display unit for displaying the target vehicle speed, the display unit displaying the target vehicle speed calculated by the processing unit.

13. The lane change assist system as claimed in claim 1, further comprising a vehicle speed control system for controlling the host vehicle speed at a speed-control target vehicle speed, the vehicle speed control system employing the target vehicle speed as the speed-control target vehicle speed.

3. A lane change assist system comprising:

a host vehicle state detecting device that detects a traveling condition of a host vehicle;

a surrounding vehicle detecting device that detects other vehicle located around the host vehicle;

a lane detecting device that detects a lane around the host vehicle;

a processing unit arranged

to set a target lane, to which the host vehicle changes a traveling lane from the detected lane,

to determine a start and an ending of a lane change assist,

to set a predicted period for an evaluation of a lane change to the target lane, on the basis of a prediction,

to obtain an appropriate speed range in which the host vehicle executes the lane change during the predicted period for each of gaps between other vehicles traveling on the target lane, and

to select a target vehicle speed of the host vehicle from the appropriate speed range; and

a lane decreased point detecting device that detects a lane decreased point at which a number of lanes ahead of the host vehicle is decreased, the lane decreased point detecting device sends information indicative of a distance between the host vehicle and the lane decreased point and a lane decreased at the lane decreased point, wherein the processing unit sets an adjacent lane as the target lane and starts the lane change assist when the host vehicle is put in a forcible lane change condition in which the distance between the host vehicle and the lane decreased point is smaller than a predetermined distance and the lane on which the host vehicle travels is the decreased lane, and the processing unit is further arranged to terminate the lane change assist when a determination is made that a lane change to the target lane has been completed.

4. The lane change assist system as claimed in claim 3, wherein the processing unit is further arranged to set an end of the predicted period at a time at which a predetermined target time period elapsed from a time that the lane change assist is started and to extend the end of the predicted period when the forcible lane change condition is not satisfied.

5. The lane change assist system as claimed in claim 3, wherein the processing unit is further arranged to set an end of the predicted period at a predicted time at which the host vehicle will reach a point short of the lane decreased point by a predetermined distance.

10. The lane change assist system as claimed in claim 3, wherein the processing unit is further arranged to set the target vehicle speed at a vehicle speed by which the host vehicle stops short of the lane decreased point by a deceleration smaller than a predetermined value when the appropriate speed range is not found and a forcible lane change condition of requesting a forcible lane change is satisfied.

14. A lane change assist system comprising:

a host vehicle state detecting device that detects a traveling condition of a host vehicle;

a surrounding vehicle detecting device that detects other vehicle located around the host vehicle;

a lane detecting device that detects a lane around the host vehicle; and

a processing unit arranged

to set a target lane, to which the host vehicle changes a traveling lane from the detected lane,

to determine a start and an ending of a lane change assist,

to set a predicted period for an evaluation of a lane change to the target lane, on the basis of a prediction,

to obtain an appropriate speed range in which the host vehicle executes the lane change during the predicted period for each of gaps between other vehicles traveling on the target lane, and

to select a target vehicle speed of the host vehicle from the appropriate speed range;

wherein the processing unit is further arranged to predict future behaviors of the host vehicle and other vehicle around the host vehicle to mathematically evaluate a control input of the host vehicle from the future behaviors produced by the control input, to obtain a pattern of a recommended acceleration/deceleration manipulation of the host vehicle and a pattern of a lane change operation of the host vehicle from the predicted future behaviors and future vehicle group behaviors and the evaluation of the control input,

wherein the processing unit is further arranged to have an evaluation criterion of evaluating a set vehicle speed of a controllable parameter from a smallness of a difference between the host vehicle speed and the set vehicle speed, and to set the set vehicle speed as the target vehicle speed.

15. A method of assisting a lane change of a host vehicle, comprising:

detecting a traveling condition of a host vehicle;

detecting a plurality of other vehicles located around the host vehicle;

detecting a lane in which the host vehicle is traveling;

executing a setting of a target lane for a lane change and a determination of a start and an ending of a lane change assist;

setting a predicted period for an evaluation of the lane change to the target lane;

determining locations of a plurality of gaps around at least one of the plurality of other vehicles that is located in the target lane,

obtaining a plurality of appropriate speed ranges, at least one appropriate speed range for each of the plurality of gaps; and

selecting a target vehicle speed of the host vehicle from the plurality of appropriate speed ranges.

16. A lane change assist system comprising:

host vehicle state detecting means for detecting a traveling condition of a host vehicle;

surrounding vehicle detecting means for detecting a plurality of other vehicles located around the host vehicle;

lane detecting means for detecting a lane in which the host vehicle is traveling;

assist operation controlling means for executing setting a target lane for a lane change determining a start and an ending of a lane change assist;

predicted period setting means for setting a predicted period for an evaluation of the lane change to the target lane;

appropriate speed range calculating means for determining locations of a plurality of gaps around at least one of the plurality of other vehicles that is located in the target lane, and obtaining a plurality of appropriate speed ranges, at least one appropriate speed range for each of the plurality of gaps; and

target speed setting means for selecting a target vehicle speed of the host vehicle from the plurality of appropriate speed ranges.