Driving assist apparatus

• US 10,479,363 B2
• Filed: 05/29/2018
• Issued: 11/19/2019
• Est. Priority Date: 06/09/2017
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Miyata, Shunsuke
• Primary Examiner(s): Ziaeianmehdizadeh, Navid
• Application Number:
  US15/991,078
• Publication Number:
  US 20180354519A1
• Time in Patent Office: 539 Days
• Field of Search: None
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

When lane change assist control for assisting a lane change from an own lane (original lane) to an adjacent target lane is performed, the determination as to whether or not another vehicle is in the target lane may be made based on the own lane width, the own vehicle'"'"'s deviation from the lateral center of the own lane (own lane deviation), and the lateral position of the another vehicle. When the vehicle enters the target lane, own lane switching in which the own lane deviation changes by the lane width occurs and makes it impossible to properly perform the above determination. In view of this, after occurrence of own lane switching, the above determination is made based on a value obtained by adding the own lane width to the another vehicle lateral position or a value obtained by subtracting the own lane width from the another vehicle lateral position.

Claims

1. A driving assist apparatus comprising:

a lane recognition section which obtains an own lane width which is a length in a lateral direction of an own lane which is a lane in which an own vehicle is traveling, and an own lane deviation which is a separation amount of said own vehicle from a lateral center of said own lane;

a target detection section which detects targets present around said own vehicle and obtains a target lateral position which is a position of each of said targets in the lateral direction in relation to said own vehicle; and

a control execution section which executes a lane change assist control for assisting, by controlling a turn angle of turnable wheels of said own vehicle, a lane change from an original lane which is said own lane at a point when said lane change is started to a target lane which is a lane adjacent to said original lane, said control execution section executing said lane change assist control when said control execution section determines that said lane change does not cause a collision with a target lane other vehicle which is another vehicle travelling in said target lane, said target lane other vehicle being extracted from among said detected targets on the basis of said target lateral position and said own lane deviation, wherein

during execution of said lane change assist control, said control execution section executes at least one of a first extraction process of extracting said target lane other vehicle on the basis of said target lateral position and a value obtained by subtracting said own lane width from said own lane deviation and a second extraction process of extracting said target lane other vehicle on the basis of said target lateral position and a value obtained by adding said own lane width to said own lane deviation, said control execution section executing said first extraction process when said own lane deviation increases by said own lane width due to occurrence of own lane switching in which said own lane deviation obtained by said lane recognition section switches from a separation amount of said own vehicle from a lateral center of said original lane to a separation amount of said own vehicle from a lateral center of said target lane, and said control execution section executing said second extraction process when said own lane deviation decreases by said own lane width due to occurrence of said own lane switching.

2. A driving assist apparatus according to claim 1, wherein

said lane recognition section obtains said own lane deviation such that the absolute value of said own lane deviation represents a distance in the lateral direction between said own vehicle and the lateral center of said own lane and the sign of said own lane deviation represents whether said own vehicle is located leftward or rightward of said own lane;

and

said control execution section determines that said own lane switching has occurred when said own lane deviation reverses its sign during said lane change.

3. A driving assist apparatus according to claim 2, wherein, when said control execution section extracts said target lane other vehicle from among said detected targets, said control execution section determines whether or not a certain target is said target lane other vehicle on the basis of a probability of said certain target being said target lane other vehicle, the probability being determined on the basis of the separation amount of said certain target from the lateral center of said target lane.

4. A driving assist apparatus according to claim 1, wherein, when said control execution section extracts said target lane other vehicle from among said detected targets, said control execution section determines whether or not a certain target is said target lane other vehicle on the basis of a probability of said certain target being said target lane other vehicle, the probability being determined on the basis of the separation amount of said certain target from the lateral center of said target lane.