Lane change support apparatus

• US 10,730,522 B2
• Filed: 10/01/2018
• Issued: 08/04/2020
• Est. Priority Date: 11/02/2017
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Uejima, Taiyo
• Primary Examiner(s): Dager, Jonathan M
• Application Number:
  US16/148,454
• Publication Number:
  US 20190126927A1
• Time in Patent Office: 673 Days
• Field of Search: None
• CPC Class Codes: B60K 28/06 responsive to incapacity of driver
• CPC Class Codes: B60Q 1/52 for indicating emergencies
• CPC Class Codes: B60Q 5/006 indicating risk of collision between vehicles or with pedestrians
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/221 Physiology, e.g. weight, heartbeat, health or special needs
• CPC Class Codes: B60W 2540/26 Incapacity
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287

Abstract

A lane change support apparatus includes an electronic control unit configured to, when it is recognized that there is an abnormality in a driver of a host vehicle, determine whether or not lane change is possible. The electronic control unit is configured to determine that the lane change is possible when a vehicle speed of the host vehicle is lower than a predetermined upper limit speed, a following vehicle present closest to the host vehicle has stayed in a rear guard vehicle approval range for a predetermined time or longer, and a vehicle is not present in a lane change allowance gap.

Claims

1. A lane change support apparatus comprising

an electronic control unit configured to:

recognize an abnormality in a driver of a host vehicle;

recognize a vehicle speed of the host vehicle;

recognize at least one first vehicle present in a rear guard vehicle approval range, the rear guard vehicle approval range being a range from a first position in a destination lane to a second position in the destination lane, the first position being located behind a rear end of the host vehicle in a destination lane extending direction in which the destination lane extends, the second position being located behind the first position in the destination lane extending direction;

recognize a second vehicle present in a lane change allowance gap, the lane change allowance gap being a range from a third position in the destination lane to a fourth position in the destination lane, the third position being located behind the rear end of the host vehicle and ahead of the first position in the destination lane extending direction, the fourth position being located ahead of a front end of the host vehicle in the destination lane extending direction;

in a case where the electronic control unit recognizes that there is the abnormality in the driver, determine whether or not lane change is possible based on information including (i) the vehicle speed and (ii) a recognition result of the at least one first vehicle and the second vehicle;

determine that the lane change is possible in a case where the vehicle speed of the host vehicle is lower than a first predetermined upper limit speed, a following vehicle present closest to the host vehicle among the at least one first vehicle has stayed in the rear guard vehicle approval range for a predetermined time or longer, and the second vehicle is not present in the lane change allowance gap; and

in a case where the electronic control unit determines that the lane change is possible, automatically perform the lane change from a host vehicle lane in which the host vehicle travels to the destination lane, by controlling steering and driving of the host vehicle.

2. The lane change support apparatus according to claim 1, wherein

the electronic control unit is configured to

execute (i) a function of recognizing a third vehicle present in a rear alarm gap, the rear alarm gap being a range from the rear end of the host vehicle to a fifth position located behind the rear end of the host vehicle in the host vehicle lane in the vehicle traveling direction of the host vehicle, and (ii) a function of recognizing a fourth vehicle present in a lane change destination rear gap, the lane change destination rear gap being a range from the rear end of the host vehicle to a sixth position located behind the rear end of the host vehicle in the destination lane in the destination lane extending direction, and

determine that the lane change is possible in a case where the vehicle speed of the host vehicle is equal to or higher than a predetermined medium speed and lower than the first predetermined upper limit speed, the third vehicle is not present in the rear alarm gap, the fourth vehicle is not present in the lane change destination rear gap, and the second vehicle is not present in the lane change allowance gap.

3. The lane change support apparatus according to claim 2, wherein the at least one of rear alarm gap and the lane change destination rear gap is set as variable according to the vehicle speed of the host vehicle.

4. The lane change support apparatus according to claim 1, wherein the electronic control unit is configured to limit the vehicle speed of the host vehicle to a second predetermined upper limit speed or less before the lane change is started in a case where it is recognized that there is the abnormality in the driver.

5. The lane change support apparatus according to claim 1, wherein the electronic control unit is configured to give an alarm that the lane change is to be started before the lane change is started.

6. The lane change support apparatus according to claim 1, wherein the lane change allowance gap is set as variable according to the vehicle speed of the host vehicle or a correlation value between the vehicle speed of the host vehicle and a vehicle speed of another vehicle traveling in the destination lane.