Lane change assist apparatus for vehicle
A driving support Electronic Control Unit (ECU) initializes a target trajectory calculation parameter at a start of Lane Change Assist Control (LCA), calculates, based on the target trajectory calculation parameter, a target trajectory function representing a target lateral position in accordance with an elapsed time from the start of LCA; and calculates a target control amount according to the target trajectory function. When it is determined that the own vehicle has crossed a boundary white line, the driving support ECU again initializes the target trajectory calculation parameter, and calculate the target trajectory function based on the target trajectory calculation parameter.
1. A lane change assist apparatus for a vehicle, the lane change assist apparatus comprising:
a camera configured to capture images ahead of the vehicle;
a processor configured to:
recognize an original lane in which the vehicle currently travels based on at least one of the captured images;
detect a relative positional relationship of the vehicle with respect to the recognized original lane;
determine whether the vehicle has crossed a boundary between the original lane and a target lane; and
based on determining that the vehicle has crossed the boundary between the original lane and the target lane:
obtain a target trajectory along which the vehicle is to travel starting from a boundary-crossing time point at which the vehicle has been determined to have crossed the boundary until a completion of a lane change assist control, and
control a steering of a steered wheel in such a manner that the vehicle travels along the target trajectory after the boundary-crossing time point.