Granted Patent B2

US 12,736,362 · App. 18/565,059 · Granted Sep 15, 2026

Inventors: Shohei Nakamura (Kanagawa, JP); Yohei Taniguchi (Kanagawa, JP); Masashi Horibe (Kanagawa, JP); Kenji Maeda (Kanagawa, JP); Midori Isobe (Kanagawa, JP)

Assignee: Nissan Motor Co., Ltd.

G01C21/3602B60W30/18163B60W50/14G01C21/3676B60W2050/146B60W2552/10

Abstract

Claims (43)

1 . An image control method causing a controller to execute processing comprising:

generating a road image representing an own lane, the own lane being a lane in which an own vehicle travels, and one or more other lanes existing on at least one lateral side of the own lane and including at least an adjacent lane, the adjacent lane being adjacent to the own lane;

when presenting a proposal for a lane change of the own vehicle by autonomous travel control, generating a lane change image by superimposing a first course display representing a course in which a lane change to a target lane is performed on the road image, the target lane being determined as a destination lane of the lane change, or by superimposing a second course display representing a belt-shaped range extending from the own lane through the other lanes displayed in the road image and to an outer side of the other lanes displayed in the road image on the road image; and

displaying the lane change image on a display device, wherein

a lane change to the target lane includes multiple lane changes successively performed, a first lane change included in the multiple lane changes is a lane change from the own lane to the adjacent lane, and

the controller further executes processing including:

storing a setting by a passenger for selecting one of a collective acceptance mode in which proposals for the multiple lane changes are collectively accepted and an individual acceptance mode in which the proposals for the multiple lane changes are individually accepted;

when the collective acceptance mode is set and the target lane is displayed in the road image, before the first lane change is performed, displaying the lane change image on which the first course display is superimposed;

when the collective acceptance mode is set and the target lane is not displayed in the road image, before the first lane change is performed, displaying the lane change image on which the second course display is superimposed;

when the individual acceptance mode is set, before the first lane change is performed, displaying a lane change image in which a third course display representing a course in which a lane change from the own lane to the adjacent lane is performed is superimposed on a road image;

receiving an acceptance input of the proposals of the multiple lane changes; and

executing the lane change of the own vehicle to the target lane by autonomous travel control of the own vehicle in response to the received acceptance input.

2 . The image control method according to claim 1 , wherein the target lane is determined based on a target route from a current position of the own vehicle to a destination.

3 . The image control method according to claim 1 , wherein the image control method displays a numeral indicating a number of remaining lane changes among the multiple lane changes in the lane change image.

4 . The image control method according to claim 1 , wherein when a lane change is performed after the lane change image in which the second course display is superimposed on the road image is displayed and the target lane becomes to be displayed in the road image, the image control method displays the lane change image in which the first course display is superimposed on the road image.

5 . An image control device comprising a controller configured to execute processing including:

generating a road image representing an own lane, the own lane being a lane in which an own vehicle travels, and one or more other lanes existing on at least one lateral side of the own lane and including at least an adjacent lane, the adjacent lane being adjacent to the own lane;

when presenting a proposal for a lane change of the own vehicle by autonomous travel control, generating a lane change image by superimposing a first course display representing a course in which a lane change to a target lane is performed on the road image, the target lane being determined as a destination lane of the lane change, or by superimposing a second course display representing a belt-shaped range extending from the own lane through the other lanes displayed in the road image and to an outer side of the other lanes displayed in the road image on the road image; and

displaying the lane change image on a display device, wherein

a lane change to the target lane includes multiple lane changes successively performed, a first lane change included in the multiple lane changes is a lane change from the own lane to the adjacent lane, and

the controller further executes processing including:

storing a setting by a passenger for selecting one of a collective acceptance mode in which proposals for the multiple lane changes are collectively accepted and an individual acceptance mode in which the proposals for the multiple lane changes are individually accepted;

when the collective acceptance mode is set and the target lane is displayed in the road image, before the first lane change is performed, displaying the lane change image on which the first course display is superimposed;

when the collective acceptance mode is set and the target lane is not displayed in the road image, before the first lane change is performed, displaying the lane change image on which the second course display is superimposed;

when the individual acceptance mode is set, before the first lane change is performed, displaying a lane change image in which a third course display representing a course in which a lane change from the own lane to the adjacent lane is performed is superimposed on a road image;

receiving an acceptance input of the proposals of the multiple lane changes; and

executing the lane change of the own vehicle to the target lane by autonomous travel control of the own vehicle in response to the received acceptance input.

6 . An image control method causing a controller to execute processing comprising:

generating a road image representing an own lane, the own lane being a lane in which an own vehicle travels, and one or more other lanes existing on at least one lateral side of the own lane and including at least an adjacent lane, the adjacent lane being adjacent to the own lane;

when presenting a proposal for a lane change of the own vehicle by autonomous travel control, generating a lane change image by superimposing a course display representing a course in which a lane change to a target lane determined as a destination lane of a lane change is performed on the road image;

storing a setting by a passenger for selecting one of a collective acceptance mode in which proposals for multiple lane changes are collectively accepted when a lane change to the target lane includes the multiple lane changes successively performed and an individual acceptance mode in which the proposals for the multiple lane changes are individually accepted;

displaying the lane change image on a display device before lane a change from the own lane to the adjacent lane as a first lane change included in the multiple lane changes;

receiving an acceptance input of the proposals of the multiple lane changes; and

executing the lane change of the own vehicle to the target lane by autonomous travel control of the own vehicle in response to the received acceptance input,

wherein the lane change image represents a range of lane change that are performed based on a single acceptance action according to which of the collective acceptance mode and the individual acceptance mode is set.

7 . An image control device comprising a controller configured to execute processing including:

generating a road image representing an own lane, the own lane being a lane in which an own vehicle travels, and one or more other lanes existing on at least one lateral side of the own lane and including at least an adjacent lane, the adjacent lane being adjacent to the own lane;

when presenting a proposal for a lane change of the own vehicle by autonomous travel control, generating a lane change image by superimposing a course display representing a course in which a lane change to a target lane determined as a destination lane of a lane change is performed on the road image;

storing a setting by a passenger for selecting one of a collective acceptance mode in which proposals for multiple lane changes are collectively accepted when a lane change to the target lane includes the multiple lane changes successively performed and an individual acceptance mode in which the proposals for the multiple lane changes are individually accepted;

displaying the lane change image on a display device before lane a change from the own lane to the adjacent lane as a first lane change included in the multiple lane changes;

receiving an acceptance input of the proposals of the multiple lane changes; and

executing the lane change of the own vehicle to the target lane by autonomous travel control of the own vehicle in response to the received acceptance input,

wherein the lane change image represents a range of lane change that are performed based on a single acceptance action according to which of the collective acceptance mode and the individual acceptance mode is set.

Assignments (1)

Continuity (1)

References Cited (23)