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;
obtain, based on the relative positional relationship of the vehicle with respect to the recognized original lane, a target trajectory along which the vehicle is to travel to change lanes from the original lane to a target lane adjacent to the original lane in a lane change direction, wherein the target trajectory is obtained based on:
(i) an initial lateral state amount representing a lateral position of the vehicle with respect to the original lane at a start of a lane change assist control and a lateral movement state amount which is a movement state of the vehicle in a road width direction at the start of the lane change assist control; and
(ii) a final target lateral state amount representing a target lateral position of the vehicle with respect to the original lane at a completion of the lane change assist control and a target lateral movement state amount of the vehicle at the completion of the lane change assist control; and
control a steering of a steered wheel in such a manner that the vehicle travels along the target trajectory,
wherein the processor is further configured to:
set a target lane change time period which is a target time period from the start of the lane change assist control until the completion of the lane change assist control; and
obtain the initial lateral state amount and the final target lateral state amount based on:
(i) a lateral position of the vehicle with respect to a lane center line of the original lane at the start of the lane change assist control;
(ii) a speed of the vehicle in a lateral direction at the start of the lane change assist control;
(iii) an acceleration of the vehicle in the lateral direction at the start of the lane change assist control;
(iv) a target lateral position of the vehicle with respect to the lane center line of the original lane at the completion of the lane change assist control;
(v) a target speed of the vehicle in the lateral direction at the completion of the lane change assist control;
(vi) a target acceleration of the vehicle in the lateral direction at the completion of the lane change assist control; and
(vii) the target lane change time period.
2. The lane change assist apparatus according to claim 1 ,
wherein the processor is further configured to:
determine whether the vehicle has crossed a boundary between the original lane and the target lane; and
based on determining that the vehicle has crossed the boundary between the original lane and the target lane:
reobtain the initial lateral state amount and the final target lateral state amount at a boundary-crossing time point.
3. The lane change assist apparatus according to claim 1 , wherein the processor is further configured to:
when the lateral position of the vehicle at the start of the lane change assist control is shifted toward the target lane with respect to the lane center line of the original lane, decrease the target lane change time period as a shift amount is increased; and
when the lateral position of the vehicle at the start of the lane change assist control is shifted to a side opposite to the target lane with respect to the lane center line of the original lane, increase the target lane change time period as the shift amount is increased.