Driving control apparatus for vehicle
View Patent ↗An automated driving controller for a vehicle includes an environmental condition estimating part including a surrounding recognition function for recognizing a vehicle's driving lane, neighboring lanes, and other vehicles driving in the driving lanes and a function for obtaining the vehicle's moving state, a path generating part for generating a target path on the basis of information obtained by the environmental condition estimating part, and a vehicle control part configured to perform speed control and steering control for causing the vehicle to follow the target path, and has a function for performing automated lane change to a neighboring lane when there is no other vehicle in a predetermined range of the neighboring lane and a function for determining whether lane change should be continued when another vehicle is recognized in a predetermined area (XF and XR) around the vehicle during execution of the automated lane change.
1. A driving control apparatus for a vehicle, comprising:
an environmental condition estimating part including a surrounding recognition function for recognizing a vehicle's driving lane, neighboring lanes, and other vehicles driving in the driving lanes and a function for obtaining the vehicle's moving state;
a path generating part for generating a target path on the basis of information obtained by the environmental condition estimating part; and
a vehicle control part configured to perform speed control and steering control for causing the vehicle to follow the target path, and having:
a function for performing automated lane change to a neighboring lane when there is no other vehicle in a predetermined range of the neighboring lane; and
a function for determining whether lane change should be continued when another vehicle is recognized in a predetermined area around the vehicle during execution of the automated lane change,
wherein the driving control apparatus has a function for altering the predetermined area serving as a criterion of the continuation determination of lane, when the vehicle's own position is in a specific section including a lane diverging section during execution of the automated lane, to a second predetermined area smaller than the predetermined area when the vehicle's own position is in a general section other than the specific section.
2. The driving control apparatus for the vehicle according to claim 1 , wherein the specific section further includes a lane merging section.
3. The driving control apparatus for the vehicle according to claim 1 , wherein the specific section further includes a section before lane diverging where preparatory lane change to an outermost lane is executed for lane change in the lane diverging section.
4. The driving control apparatus for the vehicle according to claim 1 , wherein the predetermined area is defined by front predetermined distance, rear predetermined distance, and lateral predetermined distance of the vehicle, and the second predetermined area has the front predetermined distance and the rear predetermined distance shortened.
5. The driving control apparatus for the vehicle according to claim 1 , wherein when the specific section is the lane diverging section, the predetermined area is defined by front predetermined distance and lateral predetermined distance of the vehicle, and the second predetermined area has only the front predetermined distance shortened.
6. The driving control apparatus for the vehicle according to claim 1 , further comprising a navigation function for executing path guidance on the basis of the vehicle's own position information by positioning means and map information, wherein when the vehicle's own position is in the specific section during execution of the automated lane change, the second predetermined area is applied to intended lane change according with the path guidance by the navigation function.