Lane change system
A lane change system that ensures safety is provided. This lane change system changes lanes by controlling steering in accordance with a path moving from a first lane in which the host vehicle is traveling to a second lane different from the lane in which the host vehicle is traveling, wherein the lane changing is stopped when there are any peripheral vehicles at high risk for collision in the second lane during a lane change from the first lane to the second lane.
1. A lane change system for a host vehicle, comprising:
a sensor;
an actuator; and
a vehicle control device configured to determine a command for the actuator, the vehicle control device further configured to:
operate in a first mode for in-lane travel in which the vehicle control device controls steering to travel on a first path in a middle region of a first lane;
operate in a second mode in which the vehicle control device determines a possibility of implementing a lane change from the first lane to a second lane adjacent to the first lane, and in which the vehicle control device controls steering to travel on a second path in a standby region of the first lane that is adjacent to the second lane; and
operate in a third mode in which the vehicle control device changes lanes by controlling steering in accordance with a third path moving from the standby region of the first lane to the second lane, wherein
when operating in the second mode, the vehicle control device determines not to shift to the third mode when the vehicle control device determines that there is a peripheral vehicle with a high collision risk in the second lane.
2. The lane change system according to claim 1 , wherein
the collision risk is calculated based on a relative position and/or relative speed of the host vehicle with respect to the peripheral vehicle, and
when operating in the second mode, the vehicle control device controls steering to travel a fourth path to the central region of the first lane when the vehicle control device determines that the collision risk is greater than a first threshold.
3. The lane change system according to claim 1 , wherein
the standby region of the first lane is parallel to the second lane.
4. The lane change system according to claim 2 , wherein
the vehicle control device controls steering to travel a path to the central region of the first lane when the vehicle control device determines that a time during which the host vehicle is traveling in the standby region of the first lane is longer than a second threshold.
5. The lane change system according to claim 4 , wherein
the second threshold is set to be shorter in a case where the standby region of the first lane is closer to the second lane than to the central region of the first lane than in a case where the standby region of the first lane is farther from the second lane than from the central region of the first lane.
6. The lane change system according to claim 4 , wherein
the second threshold is set to be longer in a case where the host vehicle enters a junction than in a case where the host vehicle does not enter a junction.
7. The lane change system according to claim 1 , further comprising a lane change input device, wherein the vehicle control device is configured to shift from the first mode to the second mode when the lane change input device is activated.