Vehicle lane change assist device

Abstract

Vehicle lane change assistance device, with: one or more sensors (16a) for detecting one or more cubic objects located in the vicinity of a host vehicle (100) and for outputting information about the detected one or more cubic objects as information of the cubic object; and an electronic control unit (90) for processing the information of the cubic object output by the one or more sensors (16a) and for recognizing the one or more cubic objects as one or more recognized cubic objects, characterized in that the electronic control unit (90) is configured to: Executing a lane change assistance control for moving the own vehicle (100) to an adjacent target lane when execution of the lane change assistance control is requested by a driver of the own vehicle (100) and a lane change execution condition is satisfied, wherein the adjacent target lane is a lane adjacent to a lane on which the own vehicle (100) is moving, the lane change execution condition is a condition that the own vehicle (100) does not contact the one or more detected cubic objects while the own vehicle (100) is caused to move to the adjacent target lane by the lane change assistance control; and Determining that the lane change execution condition is not satisfied when one or more non-existent cubic objects are detected as the one or more detected cubic objects, wherein the electronic control unit (90) is further configured to: Selecting the one or more detected cubic objects that satisfy a first condition as one or more cubic object candidates of the condition determination target, wherein the number of the one or more cubic object candidates of the condition determination target is limited to a first predetermined number; Selecting the one or more cubic object candidates of the condition determination target that satisfy a second condition as one or more cubic objects of the condition determination target, wherein the number of cubic objects of the condition determination target is limited to a second predetermined number less than or equal to the first predetermined number when execution of the lane change assistance control is requested by the driver of the own vehicle (100); and Using the one or more cubic objects of the condition determination target as the one or more detected cubic objects in executing a process for determining whether the lane change execution condition is satisfied.

Description

Background area

[0001] The invention relates to a vehicle lane change assistance device for moving a vehicle into an adjacent target lane. Description of the state of the art

[0002] A vehicle lane change assist device for executing lane change assist control for moving a host vehicle to an adjacent target lane is known (see JP 2009-274594 A). The adjacent target lane is a lane adjacent to a lane in which the host vehicle is traveling, and to which a driver of the host vehicle intends to move the host vehicle. The known vehicle lane change assist device determines whether a situation surrounding the host vehicle is a situation that permits execution of the lane change assist control when execution of the lane change assist control is requested by the driver of the host vehicle.In particular, the known vehicle lane change assist device determines whether the situation in the surroundings of the own vehicle is a situation in which the own vehicle is caused to move to the adjacent target lane without touching or coming into contact with another vehicle.

[0003] Furthermore, US 2018 / 0 178 713 A1 discloses a lane change assistance device that accepts a lane change assistance request when a lane change assistance request detection means detects the operation performed on the operation unit to request lane change assistance in a situation where a non-operation detection means has detected a non-operation state. When the lane change assistance request is accepted, a lane change assistance control is executed to cause the host vehicle to change lanes from a current lane currently traveled by the host vehicle to a lane immediately adjacent to the current lane. Furthermore, US 2018 / 0 178 802 A1 discloses a driving assistance device having a function for assisting the driving of a host vehicle to change a lane in which the host vehicle is traveling to an adjacent target lane.Further prior art is known from DE 10 2008 002 576 A1 and DE 10 2015 208 901 A1.

[0004] It is necessary to acquire information about the other vehicle in order to determine whether the situation around the own vehicle is one in which the own vehicle is caused to move to the adjacent target lane without contacting the other vehicle. Radar sensors each detecting the other vehicles around the own vehicle are installed in the own vehicle equipped with the known vehicle lane change assist device. Each of the radar sensors detects the other vehicles and outputs the information about the detected other vehicles. The known vehicle lane change assist device performs a process of determining whether the situation around the own vehicle is one in which the own vehicle is caused to move to the adjacent target lane without contacting the other vehicles.Hereinafter, the process of determining whether the situation around the own vehicle is a situation in which the own vehicle is caused to move to the adjacent target lane without contacting the other vehicles is referred to as “the lane change execution condition determination process”.

[0005] According to the known vehicle lane change assist device, each of the radar sensors transmits a radio wave and receives the radio wave reflected by a cubic object present in the surroundings of the vehicle. The known vehicle lane change assist device refers to a point of the cubic object that reflects the radio wave transmitted by each of the radar sensors as a reflection point based on information about the radio wave received by each of the radar sensors. The known vehicle lane change assist device then detects the cubic object based on information about the referenced reflection point.

[0006] In this regard, the accuracy of the radar sensor for receiving the radio wave reflected by the cubic object may be low. In this case, the vehicle lane change assist device may refer to a point of a non-existent cubic object as the reflection point, and as a result, detect the non-existent cubic object based on the information about the reflection point of the non-existent cubic object. In this case, the lane change execution condition determination process performed for the non-existent cubic object is inappropriate. Summary

[0007] The invention was made to solve the above-mentioned problems. It is an object of the invention to provide a vehicle lane change assist device that appropriately executes a lane change execution condition determination process and safely moves the host vehicle to the adjacent lane.

[0008] The object is achieved according to the invention by a vehicle lane change assistance device according to claim 1. Further features and advantageous developments are shown in the subclaims.

[0009] A vehicle lane change assistance device comprises one or more sensors (16a) and an electronic control unit (90).

[0010] The one or more sensors (16a) detect one or more cubic objects located in the vicinity of a host vehicle (100) and output information about the detected one or more cubic objects as information of a cubic object.

[0011] The electronic control unit (90) processes the cubic object information output by the one or more sensors (16a) and recognizes the one or more cubic objects as one or more recognized cubic objects.

[0012] The electronic control unit (90) is configured to execute a lane change assist control for moving the own vehicle (100) to an adjacent target lane (see a process of a step 1440 in Fig. 14) when execution of the lane change assistance control is requested by a driver of the own vehicle (100) (see a determination “Yes” in step 1410 in Fig. 14), and a lane change execution condition is met (see a determination of “Yes” in step 1430 in Fig. 14). The adjacent target lane is a lane adjacent to a lane on which the host vehicle (100) is moving. The lane change execution condition is a condition under which the host vehicle (100) does not contact the one or more detected cubic objects while the host vehicle (100) is caused to move to the adjacent target lane via the lane change assist control.

[0013] Further, the electronic control unit (90) is configured to determine that the lane change execution condition is not satisfied when one or more non-existent cubic objects are detected as the one or more detected cubic objects (see a determination of “No” in step 1430 in Fig. 14).

[0014] If the non-existent cubic object satisfies the lane change execution condition, the host vehicle may touch the cubic object while being caused to move onto the adjacent target lane via the lane change assistance control. For this, it is desired to determine that the lane change execution condition is not satisfied when the non-existent cubic object is recognized as the recognized cubic object. The vehicle lane change assistance device according to the invention determines that the lane change execution condition is not satisfied when the non-existent cubic object is recognized as the recognized cubic object. Therefore, the lane change execution condition determination process can be appropriately executed.

[0015] According to one aspect of the invention, the electronic control unit (90) may be configured to determine that the one or more non-existent cubic objects is / are recognized as the one or more detected cubic objects when a pattern of the cubic object information output by the one or more sensors (16a) corresponds to a pattern of the cubic object information output by the one or more sensors (16a) that detect the one or more non-existent existing cubic objects (see determination “No” in step 1430 in Fig. 14).

[0016] According to this aspect of the invention, a process of determining whether the non-existent cubic object is recognized as the detected cubic object is performed by performing a simple process of comparing the pattern of the cubic object information output from the one or more sensors with the pattern of the cubic object information output from the one or more sensors that detect the one or more non-existent cubic objects.

[0017] According to another aspect of the invention, the electronic control unit (90) may be configured to use a pattern of the cubic object information output from the one or more sensors (16a) detecting the non-existent cubic object among the existing cubic objects as the pattern of the cubic object information output from the one or more sensors (16a) detecting the one or more non-existent cubic objects.

[0018] The own vehicle, which is caused to move onto the adjacent target lane via the lane change assistance control, may touch one of the existing cubic objects if the non-existing cubic object between the existing cubic objects is recognized as the recognized cubic object, and the lane change assistance control is executed. Therefore, it may be that the lane change execution condition determination process is not properly executed when a non-existing cubic object between the existing cubic objects is recognized as the recognized cubic object.The vehicle lane change assist device according to this aspect of the invention uses the pattern of the cubic object information output from the one or more sensors that detect the non-existent cubic object among the existing cubic objects as the pattern of the cubic object information output from the one or more sensors that detect the one or more non-existent cubic objects. Therefore, the vehicle lane change assist device according to this aspect of the invention determines that a lane change execution condition is not satisfied when the non-existent cubic object among the existing cubic objects is detected as the detected cubic object. Therefore, the lane change execution condition determination process can be properly executed.

[0019] According to a further aspect of the invention, the one or more sensors may comprise at least two sensors (16a). In this case, the electronic control unit (90) may be configured to determine that the one or more non-existent cubic objects are recognized as the one or more recognized cubic objects if one of the sensors (16a) does not output the same cubic object information as the cubic object information output by the other sensor (16a) (the determination "No" in step 1430 in Fig. 14).

[0020] When the vehicle lane change assist device includes two sensors, the sensors can output the information about the same existing cubic object. Therefore, if one of the sensors does not output the same cubic object information as the cubic object information output by the other sensor, the cubic object detected by the other sensor may be the non-existing cubic object. The vehicle lane change assist device according to this aspect of the invention determines that the non-existing cubic object is recognized as the detected cubic object when one of the sensors does not output the same cubic object information as the cubic object information output by the other sensor. Therefore, the lane change execution condition determination process can be properly executed.

[0021] According to a further aspect of the invention, the one or more sensors may comprise a first sensor (16a) and a second sensor (16a). In this case, a portion of a first detection range of the cubic object, within which the first sensor (16a) detects the one or more cubic objects, and a portion of a second detection range of the cubic object, within which the second sensor (16a) detects the one or more cubic objects, may overlap.

[0022] Furthermore, in this case, the electronic control unit (90) may be configured to determine that the one or more non-existent cubic objects are detected as the one or more detected cubic objects when the first sensor (16a) detects the one or more cubic objects in the part of the first detection range of the cubic object that overlaps the second detection range of the cubic object, and the second sensor (16a) does not detect the same one or more cubic objects as the one or more cubic objects detected by the first sensor (16a) (see determination “No” in step 1430 in Fig. 14).

[0023] If the detection ranges of the cubic object of the first and second sensors partially overlap, and the first sensor detects the existing cubic object in the overlapping detection range of the cubic object, the second sensor may detect the same existing cubic object. Therefore, if the first sensor detects the cubic object in the overlapping part of the detection range of the cubic object, and the second sensor does not detect the same cubic object, the cubic object detected by the first sensor may be the non-existent cubic object.The vehicle lane change assist device according to this aspect of the invention determines that the non-existent cubic object is recognized as the detected cubic object when the first sensor detects the cubic object in the overlapping part of the first cubic object detection range, and the second sensor does not detect the same cubic objects as the cubic objects detected by the first sensor. Therefore, the lane change execution condition determination process can be properly executed.

[0024] According to the invention, the electronic control unit (90) is configured to select, as one or more state determination target candidates of the cubic objects, the one or more recognized cubic objects that satisfy a first condition, the number of the one or more state determination target candidates of the cubic objects being limited to a first predetermined number (see a process in step 1530 in Fig. 15).

[0025] The electronic control unit (90) is configured to select, as one or more cubic objects as the state determination target, the state determination target candidate or candidates of the cubic objects that satisfy a second condition, the number of the one or more cubic objects of the state determination target being limited to a second predetermined number that is less than or equal to the first predetermined number (see the process of step 1420 in Fig. 14) when execution of the lane change assistance control is requested by the driver of the own vehicle (100) (see the determination “Yes” in step 1410 in Fig. 14).

[0026] Further, the electronic control unit (90) is configured to use the one or more cubic objects of the state determination target as the one or more detected cubic objects in executing a process for determining whether the lane change execution condition is satisfied.

[0027] When the number of cubic objects subjected to the lane change execution condition determination process is large, a computational load for executing the lane change execution condition determination process is large. The vehicle lane change assist device according to this aspect of the invention limits the number of cubic objects subjected to the lane change execution condition determination process to a certain number. Therefore, the computational load for executing the lane change execution condition determination process can be reduced.

[0028] According to yet another aspect of the invention, the electronic control unit (90) may be configured to determine that the one or more detected cubic objects located in a predetermined area (A1, A2, A3) around the own vehicle (100) satisfy the first condition (see the process of step 1530 in Fig. 15).

[0029] According to yet another aspect of the invention, the electronic control unit (90) may be configured to determine that the one or more state determination target candidates of the cubic objects having a predicted reaching time (TTC) shorter than or equal to a predetermined predicted reaching time (TTCth_2) satisfy the second condition (see the process of step 1420 in Fig. 14). In this case, the predicted reaching time (TTC) is a time predicted for the one or more state determination target candidates of the cubic objects to reach the own vehicle (100).

[0030] In the above description, to facilitate understanding of the present invention, elements of the present invention corresponding to elements of an embodiment described later have been provided with reference numerals used in the description of the embodiment in parentheses. However, the elements of the present invention are not limited to the elements of the embodiment defined by the reference numerals. The other objects, features, and attendant advantages of the present invention can be understood from the description of the embodiment of the present invention with reference to the drawings. Short description of the drawings Fig. 1 is a view illustrating a vehicle lane change assist device according to an embodiment of the invention. Fig. 2 is a plan view illustrating a vehicle of its own with Fig. 1 shown environmental radar sensors. Fig. 3 is a view illustrating a detection range of each of the Fig. 1 shown environmental radar sensors. Fig. 4 is a view illustrating the Fig. 1 shown environmental radar sensors. Fig. Figure 5 is a view used to describe functions of a camera sensor. Fig. Figure 6 is a view used to describe a fusion process. Fig. Figure 7 is a view used to describe the fusion process. Fig. 8 is a view used to describe a length and a width of a fusion object. Fig. 9 is a view used to describe a process of selecting cubic objects as cubic objects of the information acquisition target. Fig. 10 is a view used to describe a case where a nonexistent cubic object is detected. Fig. 11 is a view used to describe another case in which a nonexistent cubic object is detected. Fig. 12 is a view illustrating a flowchart of a routine executed by a CPU of a Fig. 1 shown ECU. Fig. Fig. 13 is a view illustrating a flowchart of a routine executed by the CPU. Fig. Fig. 14 is a view illustrating a flowchart of a routine executed by the CPU. Fig. Fig. 15 is a view illustrating a flowchart of a routine executed by the CPU. Fig. Fig. 16 is a view illustrating a flowchart of a routine executed by the CPU. Fig. 17 is a view used to describe the process of selecting the cubic objects as the cubic objects of the information acquisition target. Description of the preferred embodiments

[0031] A vehicle lane change assist device according to an embodiment of the invention will be described below with reference to the drawings. The vehicle lane change assist device according to the embodiment of the invention includes a Fig. 1 shown ECU 90, and is applied to a vehicle 100 (see Fig. (2) Hereinafter, the vehicle lane change assist device according to the embodiment of the invention will be referred to as "the device of the embodiment." In addition, the vehicle 100 to which the device of the embodiment is applied will be referred to as "the own vehicle 100."

[0032] The ECU 90 is an electronic control unit that includes a microcomputer as a main component. The ECU 90 includes a CPU, a ROM, a RAM, a non-volatile memory, an interface, etc. The CPU is configured to execute instructions, programs, or routines stored in the ROM to realize various functions.

[0033] An accelerator pedal operation amount sensor 11 is electrically connected to the ECU 90. The accelerator pedal operation amount sensor 11 detects an operation amount AP of an accelerator pedal 11a and sends a signal representing the detected operation amount AP to the ECU 90. The ECU 90 obtains the operation amount AP based on the signal sent from the accelerator pedal operation amount sensor 11.

[0034] A brake pedal operation amount sensor 12 is electrically connected to the ECU 90. The brake pedal operation amount sensor 12 detects an operation amount BP of a brake pedal 12a and sends a signal representing the detected operation amount BP to the ECU 90. The ECU 90 obtains the operation amount BP based on the signal sent from the brake pedal operation amount sensor 12.

[0035] A steering angle sensor 13 is electrically connected to the ECU 90. The steering angle sensor 13 detects a steering angle θ of a steering wheel 200 and sends a signal representing the steering angle θ to the ECU 90. The ECU 90 obtains the steering angle θ based on the signal sent from the steering angle sensor 13.

[0036] A steering torque sensor 14 is electrically connected to the ECU 90. The steering torque sensor 14 detects a steering torque Tra applied to the steering shaft 201 of the host vehicle 100 by an operation of the steering wheel 200 and sends a signal representing the detected steering torque Tra to the ECU 90. The ECU 90 obtains the steering torque Tra based on the signal sent from the steering torque sensor 14.

[0037] A vehicle speed sensor 15 is electrically connected to the ECU 90. The vehicle speed sensor 15 detects a moving speed V of the host vehicle 100 in a longitudinal direction of the host vehicle 100, or a longitudinal moving speed V of the host vehicle 100, and sends a signal representing the detected moving speed V to the ECU 90. The ECU 90 refers to the moving speed V as a vehicle speed V based on the signal sent from the vehicle speed sensor 15.

[0038] Environmental sensors 16 including environmental radar sensors 16a and a camera sensor 16b are electrically connected to the ECU 90. Positions and functions of the environmental radar sensors 16a and the camera sensor 16b will be described later, respectively.

[0039] An operation switch 17 is electrically connected to the ECU 90. The operation switch 17 is an operation device operated by a driver of the host vehicle 100 for selecting whether to cause the CPU to execute following inter-vehicle distance control or lane keeping control, which will be described later. The operation switch 17 sends a signal representing the selection of following inter-vehicle distance control or lane keeping control, depending on the driver's operation of the operation switch 17. In addition, the driver can input or select his request to be satisfied by the ECU 90 regarding following inter-vehicle distance control and lane keeping control by operating the operation switch 17.

[0040] A yaw rate sensor 18 is electrically connected to the ECU 90. The yaw rate sensor 18 detects a yaw rate TRt of the host vehicle 100 and sends a signal representing the detected yaw rate TRt to the ECU 90. The ECU 90 obtains the yaw rate TRt based on the signal sent from the yaw rate sensor 18.

[0041] A longitudinal acceleration sensor 19 is electrically connected to the ECU 90. The longitudinal acceleration sensor 19 detects a longitudinal acceleration Gx of the host vehicle 100 and sends a signal representing the detected longitudinal acceleration Gx to the ECU 90. The ECU 90 obtains the longitudinal acceleration Gx based on the signal sent from the longitudinal acceleration sensor 19.

[0042] A lateral acceleration sensor 20 is electrically connected to the ECU 90. The lateral acceleration sensor 20 detects an acceleration Gy of the host vehicle 100 in a lateral or width direction of the host vehicle 100 or a direction perpendicular to a longitudinal center line of the host vehicle 100, and sends a signal representing the detected acceleration Gy to the ECU 90. The ECU 90 obtains the acceleration Gy based on the signal sent from the lateral acceleration sensor 20. <umgebungsradarsensoren>

[0043] As in Fig. As shown in Figure 2, the surrounding radar sensors 16a are a center front surrounding sensor 16FC, a right front surrounding sensor 16FR, a left front surrounding sensor 16FL, a right rear surrounding sensor 16RR, and a left rear surrounding sensor 16RL. These sensors 16FC, 16FR, 16FL, 16RR, and 16RL are the same. In the following description, the surrounding radar sensors 16a collectively refer to the sensors 16FC, 16FR, 16FL, 16RR, and 16RL.

[0044] Each of the environmental radar sensors 16a includes a radar transmitting / receiving section (not shown) and a signal processing section (not shown).

[0045] As in Fig. As shown in Figure 3, the radar transmitting / receiving section transmits a radar wave or a millimeter wave, which is a radio wave of the millimeter band, into a transmission range of a predetermined angle |α|° in a lateral direction with respect to a transmission center axis Cs. In addition, each of the periphery radar sensors 16a receives the millimeter wave reflected by a cubic object, such as another vehicle, a walking person, a bicycle, a building, etc., located within the transmission range as a reflected wave. Hereinafter, each of the points of the cubic object that reflects the millimeter wave is referred to as "the reflection point."

[0046] The signal processing section detects a distance between the own vehicle 100 and the reflection point, a relative speed between the own vehicle 100 and the reflection point, and an orientation of the reflection point relative to the own vehicle 100 based on a difference in phase between the transmitted millimeter wave and the reflected wave, a difference in frequency between the transmitted millimeter wave and the reflected wave, a decay level of the reflected wave, and a time required for the transmitted wave to be received by the surrounding radar sensors 16a as the reflected wave.The orientation of the reflection point relative to the own vehicle 100 is defined by an angle between the longitudinal center line of the own vehicle 100 and a line extending from a center point of a front end of the own vehicle 100 in the width direction of the own vehicle 100 in the direction of the reflection point. The orientation is positive when the reflection point is located on the left side of the longitudinal center line of the own vehicle 100. On the other hand, the orientation is negative when the reflection point is located on the right side of the longitudinal center line of the own vehicle 100.

[0047] Each of the surrounding radar sensors 16a may be a radar sensor using a radio wave or a radar wave of a frequency band different from the millimeter band.

[0048] The center front surroundings sensor 16FC is provided at a front center portion of the host vehicle 100. The center front surroundings sensor 16FC detects the reflection points located in an area ahead of the host vehicle 100. Specifically, the center front surroundings sensor 16FC transmits the millimeter wave into a detection area AFC and detects the reflection points located in the detection area AFC based on the reflected waves. The detection area AFC corresponds to a range of ±75 degrees with respect to a line extending forward from the front center portion of the host vehicle 100.

[0049] The right front surroundings sensor 16FR is provided at a right front edge part of the host vehicle 100. The right front surroundings sensor 16FR mainly detects the reflection points located in an area ahead of the host vehicle 100 on the right side. Specifically, the right front surroundings sensor 16FR transmits the millimeter wave into a detection range AFR and detects the reflection points located in the detection range AFR based on the reflected waves. The detection range AFR corresponds to a range of ±75 degrees with respect to a line extending diagonally forward to the right from the right front edge of the host vehicle 100.

[0050] Part of the detection range AFR of the right front surround sensor 16FR overlaps part of the detection range AFC of the center front surround sensor 16FC. In other words, the right front surround sensor 16FR and the center front surround sensor 16FC share a common overlapped detection range.

[0051] The left front surroundings sensor 16FL is provided at a left front edge part of the host vehicle 100. The left front surroundings sensor 16FL mainly detects the reflection points located in an area ahead of the host vehicle 100 on the left side. Specifically, the left front surroundings sensor 16FL transmits the millimeter wave into a detection area AFL and detects the reflection points located in the detection area AFL based on the reflected waves. The detection area AFL corresponds to a range of ±75 degrees with respect to a line extending diagonally forward to the left from the left front edge of the host vehicle 100.

[0052] Part of the detection area AFL of the left front surround sensor 16FL overlaps part of the detection area AFC of the center front surround sensor 16FC. In other words, the left front surround sensor 16FL and the center front surround sensor 16FC share a common overlapped detection area.

[0053] The detection range AFR of the right front environment sensor 16FR and the detection range AFL of the left front environment sensor 16FL are symmetrical with respect to the longitudinal centerline of the host vehicle 100. The detection range AFR of the right front environment sensor 16FR and the detection range AFL of the left front environment sensor 16FL overlap in a central area ahead of the host vehicle 100. In particular, the right front environment sensor 16FR and the left front environment sensor 16FL have a common overlapped detection range, as indicated by a gray-shaded portion in Fig. 4 is shown.

[0054] The right rear environment sensor 16RR is provided at a right rear edge part of the host vehicle 100. The right rear environment sensor 16RR mainly detects the reflection points located in a right rear area with respect to the host vehicle 100. Specifically, the right rear environment sensor 16RR transmits the millimeter wave into a detection range ARR and detects the reflection points located in the detection range ARR based on the reflected waves. The detection range ARR corresponds to a range of ±75 degrees with respect to a line extending diagonally rearward to the right from the right rear edge of the host vehicle 100.

[0055] The left rear environment sensor 16RL is provided at the left rear edge part of the host vehicle 100. The left rear environment sensor 16RL mainly detects the reflection points located in a rear left area with respect to the host vehicle 100. Specifically, the left rear environment sensor 16RL transmits the millimeter wave into a detection range ARL and detects the reflection points located in the detection range ARL based on the reflected waves. The detection range ARL corresponds to a range of ±75 degrees with respect to a line extending diagonally rearward to the left from the left rear edge of the host vehicle 100.

[0056] The detection range ARR of the right rear environment sensor 16RR and the detection range ARL of the left rear environment sensor 16RL are symmetrical with respect to the longitudinal centerline of the host vehicle 100. The detection range ARR of the right rear environment sensor 16RR and the detection range ARL of the left rear environment sensor 16RL overlap in a central area behind the host vehicle 100. In particular, the right rear environment sensor 16RR and the left rear environment sensor 16RL have a common overlapped detection range, as indicated by a gray-shaded portion in Fig. 4 is shown.

[0057] The detection range AFR of the right front environment sensor 15FR and the detection range ARR of the right rear environment sensor 16RR overlap in a central area on the right side of the host vehicle 100. In particular, the right front environment sensor 16FR and the right rear environment sensor 16RR have a common overlapped detection range, as indicated by a gray-shaded portion in Fig. 4 is shown. The detection range AFL of the left front environment sensor 16FL and the detection range ARL of the left rear environment sensor 16RL overlap in a central area on the left side of the host vehicle 100. In particular, the left front environment sensor 16FL and the left rear environment sensor 16RL have a common overlapped detection range, as indicated by a gray-shaded portion in Fig. 4 is shown.

[0058] Each of the surrounding radar sensors 16a detects the reflection points within a range of approximately 100 meters from the own vehicle 100. In Fig. 4 shows a detection angle range of each of the right front surrounding sensor 16FR, the left front surrounding sensor 16FL, the right rear surrounding sensor 16RR, and the left rear surrounding sensor 16RL. However, a detection distance of each of the right front surrounding sensor 16FR, the left front surrounding sensor 16FL, the right rear surrounding sensor 16RR, and the left rear surrounding sensor 16RL is not shown. The detection distance can be appropriately determined depending on the intended use of the surrounding radar sensors 16a. For example, the detection distance may be several tens of meters.

[0059] As in Fig. As shown in Fig. 2, the ECU 90 has an X-Y coordinate system. An X-axis of the X-Y coordinate system extends along the longitudinal center line of the host vehicle 100. An X-coordinate of the X-Y coordinate system that represents a point in front of the host vehicle 100 is positive. A Y-axis of the X-Y coordinate system runs perpendicular to the X-axis. A Y-coordinate of the X-Y coordinate system that represents a point on the left side of the host vehicle 100 is positive. An origin point of the X-Y coordinate system is located at the midpoint of the front end of the host vehicle 100 in the width direction of the host vehicle 100.

[0060] Each of the surrounding radar sensors 16a detects identification information ID regarding the reflection point and physical quantities of the reflected wave, such as the X-axis value Px representing the reflection point, the Y-axis value Py representing the reflection point, a relative longitudinal velocity Vx of the reflection point relative to the host vehicle 100, a relative lateral velocity Vy of the reflection point relative to the host vehicle 100, a strength of the reflected wave of the reflection point, etc. Subsequently, each of the surrounding radar sensors 16a transmits signals representing the identification information ID regarding the reflection point and the physical quantities of the reflected wave, as cubic object information or reflection point information, to the ECU 90.

[0061] An X-coordinate of the reflection point represents a distance between the own vehicle 100 and the reflection point in an X-axis direction and a longitudinal position of the reflection point with respect to the own vehicle 100. A Y-coordinate of the reflection point represents a distance between the own vehicle 100 and the reflection point in a Y-axis direction and a lateral position of the reflection point with respect to the own vehicle 100. The relative longitudinal velocity Vx is the moving speed of the reflection point relative to the own vehicle 100 in the X-axis direction. Note that an absolute longitudinal velocity Vx_abs, which will be described later, is a value obtained by adding the vehicle speed V of the own vehicle 100 to the relative longitudinal velocity Vx (Vx_abs = Vx + V).The relative lateral velocity Vy is the moving speed of the reflection point relative to the host vehicle 100 in the Y-axis direction. Note that an absolute lateral velocity Vy_abs, which will be described later, is the same as the relative lateral velocity Vy (Vy_abs = Vy). The identification information ID is information used to identify or specify the reflection point.

[0062] The ECU 90 obtains the information regarding the reflection point as reflection point information based on the signals sent from the surrounding radar sensors 16a. <kamerasensor>

[0063] The camera sensor 16b includes a camera section (not shown) and a lane detection section (not shown). The camera section includes a stereo camera. The lane detection section analyzes data from images captured by the camera section to detect lane markings on a road on which the host vehicle 100 is traveling. The camera section of the camera sensor 16b captures the images in a view forward of the host vehicle 100. The lane detection section of the camera sensor 16b analyzes the data of the images of an image processing area with a predetermined angular range extending in front of the host vehicle 100 to detect or detect the lane markings provided on the road in front of the host vehicle 100.

[0064] The camera sensor 16b sends information about the detected lane markings to the ECU 90. As in Fig. 5, the ECU 90 specifies a center line CL based on the information about the detected lane markings sent from the camera sensor 16b. The center line CL is a line defined by midpoints between right and left lane markings of a lane on which the host vehicle 100 is traveling, in the width direction of the host vehicle 100. The center line CL is used as a target moving line in the lane keeping control described later. Further, the ECU 90 calculates a curvature Cu of a curve of the center line CL. In this embodiment, the curvature Cu takes a positive value when the center line curves to the right. On the other hand, the curvature Cu takes a negative value when the center line curves to the left.Hereinafter, the center line CL is referred to as "the moving lane center line CL", and the lane on which the own vehicle 100 moves is referred to as "the moving lane".

[0065] In addition, the ECU 90 calculates a position of the own vehicle 100 as well as an orientation of the own vehicle 100 in the movement lane. For example, as in Fig. As shown in Figure 5, the ECU 90 calculates a distance Cy between a reference point P of the own vehicle 100 and the center line CL in a width direction of the road on which the own vehicle 100 is traveling. The reference point P of the own vehicle 100 is, for example, a center of gravity of the own vehicle 100. The distance Dy represents a deflection amount of the own vehicle 100 with respect to the center line CL in the width direction of the road. The distance Dy takes a positive value when the reference point P of the own vehicle 100 deviates from the center line CL to the right in the width direction of the road. On the other hand, the distance Dy takes a negative value when the reference point P of the own vehicle 100 deviates from the center line CL to the left in the width direction of the road. Hereinafter, the distance Dy is referred to as "the lateral distance Dy."

[0066] The ECU 90 calculates an angle θy defined by an extending direction of the lane center line CL and an orientation of the host vehicle 100, that is, the longitudinal direction of the host vehicle 100. Hereinafter, the angle θy is referred to as "the yaw angle θy." The yaw angle θy takes a positive value when the host vehicle 100 is oriented to the right with respect to the lane center line CL. On the other hand, the yaw angle θy takes a negative value when the host vehicle 100 is oriented to the left with respect to the lane center line CL. In the following description, information (Cu, Dy, θy) regarding the curvature Cu, the lateral deviation Dy, and the yaw angle θy are referred to as "the vehicle information regarding the moving lane."

[0067] The camera sensor 16b sends information about a type of lane marking on the right side of the own vehicle 100 (for example, whether the lane marking is a solid line or a dashed line), a type of lane marking on the left side of the own vehicle 100 (for example, whether the lane marking is a solid line or a dashed line), a shape of the lane marking on the right side of the own vehicle 100, a shape of the lane marking on the left side of the own vehicle 100, etc., to the ECU 90. In addition, the camera sensor 16b sends information about types of lane markings related to lane markings adjacent to the movement lane of the own vehicle 100, shapes of lane markings related to lane markings adjacent to the movement lane of the own vehicle 100, etc., to the ECU 90.As described above, the camera sensor 16b sends the lane marking information to the ECU 90. The solid line lane marking prohibits the vehicle from moving over the lane marking in question to change the movement lane. On the other hand, the dashed line lane marking permits the vehicle to move over the lane marking in question to change the movement lane.

[0068] Engine actuators 31 are electrically connected to ECU 90. The engine actuators 31 include actuators for changing an operating state of an internal combustion engine 32. In this embodiment, the internal combustion engine 32 is a multi-cylinder spark-ignition fuel-injected internal combustion engine. The internal combustion engine 32 includes a throttle valve for adjusting an amount of intake air. The engine actuators 31 include a throttle valve actuator for changing an opening degree of the throttle valve. The ECU 90 can change a torque generated by the internal combustion engine 32 by controlling activations of the engine actuators 31. The torque generated by the internal combustion engine 32 is transmitted to drive wheels (not shown) via a transmission (not shown).Therefore, the ECU 90 can change an acceleration of the own vehicle 100 by controlling the activations of the engine actuators 31 to control a driving force applied to the own vehicle 100.

[0069] Brake actuators 41 are electrically connected to the ECU 90. Each of the brake actuators 41 adjusts a hydraulic pressure applied to a wheel cylinder installed in a brake caliper 42b of a friction brake mechanism 42 in response to an instruction sent from the ECU 90, thereby pressing a brake pad against a brake disc 42a via the applied hydraulic pressure to apply a friction braking force to the brake disc 42a. Therefore, the ECU 90 can change the acceleration of the host vehicle 100, specifically, a deceleration of the host vehicle 100, by controlling activations of the brake actuators 41 to control braking forces applied to the host vehicle 100.

[0070] A motor driver 51 as a control device of a known electric power steering system is electrically connected to the ECU 90. The motor driver 51 is electrically connected to a steering motor 52. The steering motor 52 is included in a steering mechanism of the own vehicle 100 including the steering wheel 200, the steering shaft 201 operatively connected to the steering wheel 200, a steering gear mechanism, etc. The steering motor 52 generates torque using electric power supplied from the motor driver 51 and applies the generated torque to the steering shaft 201 as a steering assist torque, and steers right and left steered wheels of the own vehicle 100. As understood from the above, the steering motor 52 can change a steering angle of the own vehicle 100, specifically, a steering angle of each of the steered wheels.

[0071] A turn signal lever switch 53 is electrically connected to the ECU 90. The turn signal lever switch 53 detects an actuated position of a turn signal lever (not shown). The turn signal lever is a lever operated by the driver of the host vehicle 100 to flash the turn signal lamps 61.

[0072] The turn signal lever is provided on a steering column (not shown). The driver of the host vehicle 100 can set the turn signal lever to a first clockwise position or a second clockwise position. The first clockwise position is a position where the turn signal lever is rotated clockwise by a predetermined angle from an initial position. The second clockwise position is a position where the turn signal lever is rotated clockwise by the predetermined angle from the first clockwise position. The driver needs to perform an operation on the turn signal lever to maintain the turn signal lever at the first clockwise position. Therefore, when the driver releases the turn signal lever, the turn signal lever returns from the first clockwise position to the initial position.When the turn signal lever is maintained at the first clockwise position, the turn signal lever switch 53 sends a signal representing that the turn signal lever is maintained at the first clockwise position to the ECU 90.

[0073] Furthermore, the driver of the host vehicle 100 can set the turn signal lever to a first counterclockwise position and a second counterclockwise position. The first counterclockwise position is a position where the turn signal lever is rotated counterclockwise by the predetermined angle from the initial position. The second counterclockwise position is a position where the turn signal lever is rotated counterclockwise by the predetermined angle from the first counterclockwise position. The driver must apply the turn signal lever operation to maintain the turn signal lever at the first counterclockwise position. Therefore, when the driver releases the turn signal lever, the turn signal lever returns from the first counterclockwise position to the initial position.When the turn signal lever is maintained at the first counterclockwise position, the turn signal lever switch 53 sends a signal representing that the turn signal lever is maintained at the first counterclockwise position to the ECU 90.

[0074] The turn signal lever is described, for example, in JP 2005 - 138 647 A.

[0075] The ECU 90 measures a time the turn signal lever continues to be maintained at the first clockwise position based on the signal sent from the turn signal lever switch 53. The ECU 90 determines that execution of the lane change assist control by the driver to move the host vehicle 100 from the current moving lane to an adjacent lane located adjacent to the current moving lane on the right side of the current moving lane is requested when the measured time in question becomes longer than or equal to a predetermined assist request setting time (for example, 0.8 seconds). The current moving lane is a lane in which the host vehicle 100 is currently moving.

[0076] In addition, the ECU 90 measures a time that the turn signal lever continues to be maintained at the first counterclockwise position based on the signal sent from the turn signal lever or turn signal lever switch 53. The ECU 90 determines that the driver's execution of the lane change assist control for moving the host vehicle 100 from the current moving lane to an adjacent lane located adjacent to the current moving lane on the left side of the current moving lane is requested when the measured time in question becomes longer than or equal to the predetermined assist request setting time.

[0077] The right and left turn signal lamps 61 or the right and left turn signal lamps are electrically connected to the ECU 90. The ECU 90 flashes the right or left turn signal lamps 61 via a turn signal drive circuit (not shown) in response to the signal sent from the turn signal lever switch 53. When the turn signal lever switch 53 outputs the signal representing that the turn signal lever is maintained at the first counterclockwise position, the ECU 90 flashes the left turn signal lamps 61. On the other hand, when the turn signal lever switch 53 outputs the signal representing that the turn signal lever is maintained at the first clockwise position, the ECU 90 flashes the right turn signal lamps 61.

[0078] An information display 62 is electrically connected to the ECU 90. The information display 62 is a multi-information display provided in front of a driver's seat of the host vehicle 100. The information display 62 displays measured values ​​such as the vehicle speed V, an engine speed of the internal combustion engine 32, etc., as well as various information. For example, the ECU 90 causes the information display 62 to display images depending on a driving assistance state.

[0079] A buzzer 71 and an alarm indicator 72 are electrically connected to the ECU 90. The ECU 90 activates the buzzer 71 to alert the driver. Additionally, the ECU 90 activates the alarm indicator 72 to display alarm markers (e.g., warning lights), alarm images, alarm messages, and an execution condition related to the driving assistance control. The alarm indicator 72 is a head-up display. In this regard, the alarm indicator 72 may be a different display than the head-up display. <Zusammenfassung der Operation der Vorrichtung des Ausführungsbeispiels>

[0080] Next, a summary of an operation of the device of the embodiment will be described. The device of the embodiment is configured to execute the following inter-vehicle distance control, the lane keeping control, or the lane change assist control in response to a request from the driver of the host vehicle 100. <nachfolgezwischenfahrzeugabstandssteuerung>

[0081] The following inter-vehicle distance control is a control for causing the host vehicle 100 to follow another vehicle moving in front of the host vehicle 100 (i.e., a preceding vehicle moving immediately in front of the host vehicle 100) while maintaining an inter-vehicle distance between the host vehicle 100 and the preceding vehicle at a predetermined distance. The following inter-vehicle distance control is described, for example, in JP 2014-148293 A, JP 2006-315491 A, JP 4 172434 B2, JP 4 929777 B2, et cetera. In this embodiment, the apparatus of the embodiment is configured to execute the following inter-vehicle distance control when execution of the following inter-vehicle distance control is requested by the driver operating the operation switch 17.Hereinafter, the other vehicle that moves in front of its own vehicle 100 during the execution of the following vehicle distance control is referred to as "the following target vehicle". <spurhaltesteuerung>

[0082] Lane keeping control is a control for assisting a driving operation of the driver of the own vehicle 100 by applying steering torque to the steering mechanism to control the steering angle of the own vehicle 100 to maintain a position of the own vehicle 100 in the vicinity of the target moving line (for example, the center line CL of the moving lane of the own vehicle 100). Lane keeping control is described, for example, in JP 2008-195402 A, JP 2009-190464 A, JP 2010-6279 A, ​​JP 4349210 B2, etc. In this embodiment, the device of the embodiment is configured to execute lane keeping control when execution of lane keeping control is requested by the driver operating the operation switch 17 while the device of the embodiment is executing the following inter-vehicle distance control. <spurwechselassistenzsteuerung>

[0083] Lane change assist control is a control for applying steering torque to the steering mechanism to change the steering angle of the host vehicle 100 to move the host vehicle 100 from the current travel lane to an adjacent target lane. Here, lane change assist control is a control for assisting a steering operation of the driver of the host vehicle 100, specifically, an operation of the driver with respect to the steering wheel 200, to move the host vehicle 100 from the current travel lane to the adjacent target lane. The adjacent target lane is a lane adjacent to the current travel lane to which the driver of the host vehicle 100 wishes to move the host vehicle 100. Lane change assist control is described, for example, in JP 2016-207060 A, JP 2017-74823 A, et cetera.

[0084] In this embodiment, the device of the embodiment executes the lane change assist control when the execution of the lane change assist control is requested by the driver operating the turn signal lever while the device of the embodiment executes the lane keeping control and a situation around the own vehicle 100 permits the execution of the lane change assist control. On the other hand, the device of the embodiment does not execute the lane change assist control, that is, the execution of the lane change assist control is prohibited when the situation around the own vehicle 100 does not permit the execution of the lane change assist control, even if the execution of the lane change assist control is requested.

[0085] In this embodiment, a condition for allowing execution of the lane change assist control is a condition that there is no cubic object such as the other vehicle that might contact the own vehicle 100 while the own vehicle 100 is caused to move to the adjacent target lane by the lane change assist control.

[0086] The apparatus of the embodiment uses the cubic object information regarding cubic objects located around the host vehicle 100 to determine whether the situation around the host vehicle 100 satisfies the condition for permitting execution of the lane change assist control. Accordingly, the apparatus of the embodiment acquires the cubic object information as described below. Hereinafter, a process of determining whether the situation around the host vehicle 100 satisfies the condition for permitting execution of the lane change assist control is referred to as "the lane change execution condition determination process."

[0087] For example, the device of the embodiment executes the lane change execution condition determination process when the execution of the lane change assist control is requested. In this regard, the device of the embodiment may be configured to execute the lane change execution condition determination process before the execution of the lane change assist control is requested. <Informationen des kubischen Objekts>

[0088] As described above, the device of the embodiment refers to the reflection point information based on the signals output by the environmental radar sensors 16a. A cubic object may have one reflection point. On the other hand, a cubic object may have two or more reflection points. When a cubic object has two or more reflection points, each of the environmental radar sensors 16a detects the reflection points of a cubic object. Further, two or more environmental radar sensors 16a detect the same reflection points of the one cubic object.

[0089] Accordingly, the apparatus of the embodiment performs a fusion process for grouping or integrating the reflection points of a cubic object to obtain a fusion object FS represented by the reflection points. The apparatus of the embodiment recognizes a fusion object FS as a cubic object and obtains information about the recognized fusion object FS as the cubic object information.

[0090] The fusion process is performed as described below. The fusion process includes an object update process and an object production process. The object update process is a process for integrating one or more reflection points Pref into the previously produced fusion object FS to update the fusion object FS. The object production process is a process for integrating the reflection points Pref together to produce a new fusion object FS.

[0091] As in Fig. 6, when executing the object update process at this time, the apparatus of the embodiment acquires information about the fusion object FS that was last produced or updated when the fusion process was executed. Hereinafter, the fusion object FS that was last produced or updated when the fusion process was executed is referred to as "the last-time fusion object FSlast," and the information about the last-time fusion object FSlast when the fusion process was executed is referred to as "the last-time information about the last-time fusion object FSlast." The apparatus of the embodiment estimates the information about the last-time fusion object FSlast at the current time as current information about the last-time fusion object FSlast based on the last-time information about the last-time fusion object FSlast.Subsequently, the apparatus of the embodiment estimates the last-time fusion object FSlast at the current time based on the current information about the last-time fusion object FSlast. Subsequently, the apparatus of the embodiment recognizes the estimated last-time fusion object FSlast as an estimated fusion object FSest.

[0092] Specifically, the apparatus of the embodiment calculates the current X coordinate Px of the last-time fusion object FSlast as an X coordinate Px_est using an equation (1 described below), the last-time X coordinate Px (= Px_last) of the last-time fusion object FSlast, the last-time relative longitudinal velocity Vx (= Vx_last) of the last-time fusion object FSlast, and a predetermined time Δt corresponding to one calculation cycle. The X coordinate Px_est calculated at this time is the X coordinate Px of the last-time fusion object FSlast at the current time in the XY coordinate system used in the last-time execution of the fusion process. Hereinafter, the XY coordinate system used in the last-time execution of the fusion process is referred to as "the last-time XY coordinate system." Px_est=Px_last+Δt*Vx_last

[0093] In addition, the apparatus of the embodiment calculates the current Y coordinate Py of the last-time fusion object FSlast as a Y coordinate Py_est using an equation (2 described below), the last-time Y coordinate Py (= Py_last) of the last-time fusion object FSlast, the last-time relative lateral velocity Vy (= Vy_last) of the last-time fusion object FSlast, and the predetermined time Δt. The Y coordinate Py_est calculated at this time is the Y coordinate Py of the last-time fusion object FSlast at the current time in the last-time XY coordinate system. Py_est=Py_last+Δt*Vy_last

[0094] The apparatus of the embodiment performs a coordinate conversion process to convert the calculated X coordinate Px_est and the calculated Y coordinate Py_est to an X coordinate Px_con and a Y coordinate Py_con in the XY coordinate system at the current time, respectively. The X coordinate Px_con and the Y coordinate Py_con are the X coordinate Px and the Y coordinate Py of the last fusion object FSlast in the XY coordinate system at the current time. Hereinafter, the XY coordinate system at the current time is referred to as "the current XY coordinate system." The apparatus of the embodiment sets the X coordinate Px_con and the Y coordinate Py_con as the X coordinate Px_new and the Y coordinate Py_new, respectively. The X-coordinate Px_new and the Y-coordinate Py_new are the X-coordinate Px and the Y-coordinate Py of the estimated fusion object FSest in the current XY coordinate system.

[0095] In addition, the apparatus of the embodiment executes the coordinate conversion process of converting the last-time relative longitudinal velocity Vx_last of the last-time fusion object FSlast and the last-time relative lateral velocity Vy_last of the last-time fusion object FSlast into a converted relative longitudinal velocity Vx_con and a converted relative lateral velocity Vy_con, respectively, in the current XY coordinate system. The converted relative longitudinal velocity Vx_con and the converted relative lateral velocity Vy_con are the relative longitudinal velocity Vx and the relative lateral velocity Vy of the last-time fusion object FSlast in the current XY coordinate system.The apparatus of the embodiment sets the converted relative longitudinal velocity Vx_con and the converted relative lateral velocity Vy_con as the relative longitudinal velocity Vx_new and the relative lateral velocity Vy_new, respectively. The relative longitudinal velocity Vx_new and the relative lateral velocity Vy_new are the relative longitudinal velocity Vx and the relative lateral velocity Vy of the estimated fusion object FSest in the current XY coordinate system.

[0096] The device of the embodiment recognizes a relationship between the last XY coordinate system and the current XY coordinate system based on the vehicle speed V of the own vehicle 100, the lateral deviation Dy of the own vehicle 100, the yaw rate θy of the own vehicle 100, and the predetermined time Δt. The device of the embodiment executes the coordinate conversion process using the recognized relationship.

[0097] In addition, the apparatus of the embodiment refers to a length Llast of the last-time fusion object FSlast and a width Wlast of the last-time fusion object FSlast as a length Lest of the estimated fusion object FSest and a width West of the estimated fusion object FSest, respectively.

[0098] The apparatus of the embodiment recognizes a cubic object defined by the X coordinate Px_new, the Y coordinate Py_new, the relative longitudinal velocity Vx_new, the relative lateral velocity Vy_new, the longitude Lest, and the latitude West as the estimated fusion object FSest.

[0099] Then, the device of the exemplary embodiment performs a selection process to select the estimated fusion object FSest as a basis fusion object FSbase and to select the one or more reflection points Pref, which are candidates, to be integrated into the basis fusion object FSbase as one or more reflection point candidates Pcan. The device of the exemplary embodiment selects the one or more reflection points Pref as the one or more reflection point candidates Pcan based on the position of the basis fusion object FSbase.Specifically, in selecting the one or more reflection points Pref as the one or more reflection point candidates Pcan, the apparatus of the embodiment selects the one or more reflection points Pref located in a grouping target area defined based on the position of the base fusion object FSbase as the one or more reflection point candidates Pcan.

[0100] In a Fig. 6, the one or more reflection point candidates Pcan are the reflection points Pref_1 to Pref_5 located in a grouping target area enclosed by a dotted line R1.

[0101] The apparatus of the embodiment determines whether the one or more reflection point candidates Pcan satisfy a condition G1 described below and a condition G2 described below with respect to the base fusion object FSbase. A predetermined longitudinal distance ΔDx_th used in condition G1 is a value "L1 * 0.5 + α." A predetermined longitudinal distance ΔDy_th used in condition G2 is a value "W1 * 0.5 + β." The parameter L1 is a length of the base fusion object FSbase. The parameter W1 is a width of the base fusion object FSbase. The parameters α and β are each appropriately set arbitrary constant values. <Bedingung G1>

[0102] The condition G1 is a condition that an absolute value ΔDx of a difference between the X coordinate Px (= Px_can) of the reflection point candidate Pcan and the X coordinate Px (= Px_base) of the base fusion object FSbase (ΔDx = | Px_can - Px_base |) is less than or equal to the predetermined longitudinal distance ΔDx_th, and an absolute value ΔDy of a difference between the Y coordinate Py (= Py_can) of the reflection point candidate Pcan and the Y coordinate Py (= Py_base) of the base fusion object FSbase (ΔDy = | Py_can - Py_base |) is less than or equal to the predetermined lateral distance ΔDy_th. <Bedingung G2>

[0103] The condition G2 is a condition that an absolute value ΔVx of a difference between the relative longitudinal velocity Vx (= Vx_can) of the reflection point candidate Pcan and the relative longitudinal velocity Vx (= Vx_base) of the base fusion object FSbase (ΔVx = | Vx_can - Vx_base |) is less than or equal to a predetermined longitudinal velocity difference ΔVx_th, and an absolute value ΔVy of a difference between the relative lateral velocity Vy (= Vy_can) of the reflection point candidate Pcan and the relative lateral velocity Vy (= Vy_base) of the base fusion object FSbase (ΔVy = | Vy_can - Vy_base |) is less than or equal to a predetermined lateral velocity difference ΔVy_th.

[0104] The apparatus of the embodiment may be configured to determine whether the condition G2 is satisfied using an absolute longitudinal velocity Vx_abs_can and an absolute lateral velocity Vy_abs_can of the reflection point candidate Pcan.Specifically, the condition G2 may be a condition that an absolute value ΔVx_abs of a difference between the absolute longitudinal velocity Vx_abs_can of the reflection point candidate Pcan and an absolute longitudinal velocity Vx_abs_base of the base fusion object FSbase (ΔVx_abs = | Vx_abs_can - Vx_abs_base |) is less than or equal to a predetermined longitudinal velocity difference ΔVx_abs_th, and the absolute value ΔVy_abs of a difference between the absolute lateral velocity Vy_abs_can of the reflection point candidate Pcan and an absolute lateral velocity Vy_abs_base of the base fusion object FSbase (ΔVy_abs = | Vy_abs_can - Vy_abs_base |) is less than or equal to a predetermined lateral velocity difference ΔVy_abs th.

[0105] When the one or more reflection point candidates Pcan satisfying the condition G1 and the condition G2 exist, the apparatus of the embodiment integrates the one or more reflection point candidates Pcan into the base fusion object FSbase to produce the new fusion object FSnew, thereby updating the last-time fusion object FSlast.

[0106] If the one or more reflection point candidates Pcan that satisfy the condition G1 and the condition G2, the reflection point Pref_1 and the reflection point Pref_2 in the Fig. 6, the apparatus of the embodiment integrates the reflection point Pref_1 and the reflection point Pref_2 into the base fusion object FSbase to produce the new fusion object FSnew, thereby updating the last fusion object FSlast.

[0107] When there are one or more reflection points Pref that are not integrated into the base fusion object FSbase after the apparatus of the embodiment executes the object update process for all of the last-time fusion objects FSlast, the apparatus of the embodiment executes the object production process.

[0108] When executing the object production process, the apparatus of the embodiment selects any reflection point Pref from the one or more reflection points Pref that were not integrated into the base fusion object FSbase during the execution of the object update process as the base reflection point Pref_base. In addition, the apparatus of the embodiment selects the one or more reflection points Pref that are candidates to be integrated into the selected base reflection point Pref_base in question as the one or more reflection point candidates Pcan. Hereinafter, the reflection point Pref that is not integrated into the base fusion object FSbase is referred to as "the remaining reflection point Pref_rem."

[0109] In a Fig. In the example shown in Figure 7, the remaining reflection points Pref_rem are the reflection point Pref_3, the reflection point Pref_4, and the reflection point Pref_5, where the reflection point Pref_3 is selected as the base reflection point Pref_base, and the reflection point Pref_4 and the reflection point Pref_5 are selected as the reflection point candidates Pcan.

[0110] The apparatus of the embodiment determines whether each of the one or more reflection point candidates Pcan satisfies a condition G3 regarding the base reflection point Pref_base and a condition G4 regarding the base reflection point Pref_base. A predetermined longitudinal distance ΔDx_th used in the condition G3 is a value "L0 * 0.5 + α." A predetermined longitudinal distance ΔDy_th used in the condition G4 is a value "W0 * 0.5 + β." The parameter L0 and the parameter W0 are appropriately set arbitrary constant values, respectively. For example, the parameter L0 is a standard longitudinal length of a four-wheeled vehicle, and the parameter W0 is a standard width of the four-wheeled vehicle. The parameters α and β are appropriately set arbitrary constant values, respectively. <Bedingung G3>

[0111] The condition G3 is a condition that the absolute value ΔDx of the difference between the X coordinate Px (= Px_can) of the reflection point candidate Pcan and the X coordinate Px (= Px_base) of the base reflection point Pref_base (ΔDx = | Px_can - Px_base |) is less than or equal to the predetermined longitudinal distance ΔDx_th, and the absolute value ΔDy of the difference between the Y coordinate Py (= Py_can) of the reflection point candidate Pcan and the Y coordinate Py (= Py_base) of the base reflection point Pref_base (ΔDy = | Py_can - Py_base |) is less than or equal to the predetermined lateral distance ΔDy_th. <Bedingung G4>

[0112] Condition G4 is a condition that the absolute value ΔVx of the difference between the relative longitudinal velocity Vx (= Vx_can) of the reflection point candidate Pcan and the relative longitudinal velocity Vx (= Vx_base) of the base reflection point Pref_base (ΔVx = | Vx_can - Vx_base |) is less than or equal to the predetermined longitudinal velocity difference ΔVx_th, and the absolute value ΔVy of the difference between the relative lateral velocity Vy (= Vy_can) of the reflection point candidate Pcan and the relative lateral velocity Vy (= Vy_base) of the base reflection point Pref_base (ΔVy = | Vy_can - Vy_base |) is less than or equal to the predetermined lateral velocity difference ΔVy_th.

[0113] The apparatus of the embodiment may be configured to determine whether the condition G4 is satisfied using the absolute longitudinal velocity Vx_abs_can and the absolute lateral velocity Vy_abs_can of the reflection point candidate Pcan.Specifically, the condition G4 may be a condition that the absolute value ΔVx_abs of the difference between the absolute longitudinal velocity Vx_abs_can of the reflection point candidate Pcan and the absolute longitudinal velocity Vx_abs_base of the base reflection point Pref_base (ΔVx_abs = | Vx_abs_can - Vx_abs_base |) is less than or equal to the predetermined longitudinal velocity difference ΔVx_abs_th, and the absolute value ΔVy_abs of the difference between the absolute lateral velocity Vy_abs_can of the reflection point candidate Pcan and the absolute lateral velocity Vy_abs_base of the base reflection point Pref_base (ΔVy_abs = | Vy_abs_can - Vy_abs_base |) is less than or equal to the predetermined lateral velocity difference ΔVy_abs_th.

[0114] If there are one or more reflection point candidates Pcan that satisfy the condition G3 and the condition G4, the apparatus of the embodiment integrates the one or more reflection point candidates Pcan into the base reflection point Pref_base to produce the new fusion object FSnew.

[0115] If the one or more reflection point candidates Pcan that satisfy the condition G3 and the condition G4 are the reflection point Pref_4 in the Fig. 7, the apparatus of the embodiment integrates the reflection point Pref_4 into the base reflection point Pref_base to produce the new fusion object FSnew. When there are one or more base reflection points Pref_base into which no reflection point candidate Pcan is integrated, after the apparatus of the embodiment executes the object production process for all of the remaining reflection points Pref_rem, the apparatus of the embodiment sets the one or more base reflection points Pref_base in question as the one or more new fusion objects FSnew, and ends the execution of the object production process.

[0116] The apparatus of the embodiment repeatedly executes the object update process and the object production process in the predetermined calculation cycle to update and produce the fusion objects FS.

[0117] The apparatus of the embodiment stores information about the updated or produced fusion objects FS in the RAM as fusion object information. Specifically, the apparatus of the embodiment stores information about the X coordinate Px (=Px_fs) of the fusion object FS, the Y coordinate Py (=Py_fs) of the fusion object FS, the relative longitudinal velocity Vx (=Vx_fs) of the fusion object FS, the relative lateral velocity Vy (=Vy_fs) of the fusion object FS, the length L of the fusion object FS, and the width W of the fusion object FS as the cubic object information in the RAM.

[0118] The X coordinate Px_fs of the fusion object FS is a distance between the host vehicle 100 and the fusion object FS in the X-axis direction. In this embodiment, the X coordinate Px_fs is the X coordinate Px of a center point of the fusion object FS. Furthermore, the Y coordinate Py_fs of the fusion object FS is a distance between the host vehicle 100 and the fusion object FS in the Y-axis direction. In this embodiment, the Y coordinate Py_fs is the Y coordinate of the center point of the fusion object FS.

[0119] In addition, the apparatus of the embodiment calculates an absolute value of a difference between a maximum X coordinate Px_max and a minimum X coordinate Px_min as the length L of the fusion object FS (L = | Px_max - Px_min |). The length L of the fusion object FS is a length of the fusion object FS in the X-axis direction. The maximum X coordinate Px_max is a maximum value among the X coordinates Px of the one or more reflection points Pref of the fusion object FS. The minimum X coordinate Px_min is a minimum value among the X coordinates Px of the one or more reflection points Pref of the fusion object FS.

[0120] Fig. Figure 8 shows the fusion object FS produced by integrating the reflection point Pref_1 and the reflection point Pref_2. In a Fig. In the example shown in Figure 8, the X coordinate Px of the reflection point Pref_2 is the maximum X coordinate Px_max, and the X coordinate Px of the reflection point Pref_1 is the minimum X coordinate Px_min.

[0121] In addition, the apparatus of the embodiment calculates an absolute value of a difference between a maximum Y coordinate Py_max and a minimum Y coordinate Py_min as the width W of the fusion object FS (W = | Py_max - Py_min |). The width W of the fusion object FS is a length of the fusion object FS in the Y-axis direction. The maximum Y coordinate Py_max is a maximum value among the Y coordinates Py of the one or more reflection points Pref of the fusion object FS. The minimum Y coordinate Py_min is a minimum value among the Y coordinates Py of the one or more reflection points Pref of the fusion object FS.

[0122] In the Fig. In the example shown in Figure 8, the Y coordinate Py of the reflection point Pref_2 is the maximum Y coordinate Py_max, and the Y coordinate Py of the reflection point Pref_1 is the minimum Y coordinate Py_min.

[0123] In addition, the apparatus of the embodiment obtains an average value of the relative longitudinal velocities Vx of the one or more reflection points Pref of the fusion object FS as the relative longitudinal velocity Vx_fs of the fusion object FS. Further, the apparatus of the embodiment obtains an average value of the relative lateral velocities Vy of the one or more reflection points Pref of the fusion object FS as the relative lateral velocity Vx_fs of the fusion object FS. The relative longitudinal velocity Vx_fs of the fusion object FS is a velocity of the fusion object FS with respect to the host vehicle 100 in the X-axis direction. The relative lateral velocity Vy_fs of the fusion object FS is a velocity of the fusion object FS with respect to the host vehicle 100 in the Y-axis direction.

[0124] The device of the embodiment executes the lane change execution condition determination process when the execution of the lane change assist control is requested while the lane keeping control is being executed. The device of the embodiment executes the lane change execution condition determination process using the information of the cubic object. As described above, the information of the cubic object is acquired by executing the fusion process.

[0125] When the apparatus of the embodiment is configured to start execution of the fusion process for acquiring the information of the cubic object in response to the execution of the request of the lane change assist control, a time required to complete the lane change execution condition determination process becomes long.

[0126] As a result, the start timing of executing the lane change assist control may be delayed. Therefore, the fusion process performed to acquire the cubic object information is preferably executed before the lane change assist control is requested.

[0127] However, when the number of cubic objects whose information is continuously acquired by the ECU 90 is large, a computational load for executing the fusion process is large. If the computational load exceeds a maximum computational capability of the ECU 90, the ECU 90 cannot accurately detect the cubic objects. Therefore, it is desirable to limit the number of cubic objects subjected to the fusion process.

[0128] Accordingly, the apparatus of the exemplary embodiment selects one or more fusion objects FS from the one or more fusion objects FS as one or more cubic objects of the information reference target or one or more condition determination target candidates of the cubic objects, wherein the number of the selected fusion objects FS as the cubic objects of the information reference target is limited to a first predetermined number (twelve in this exemplary embodiment). The cubic object of the information reference target is a target with respect to which the apparatus of the exemplary embodiment continues to refer to the information by executing the fusion process.When the execution of the lane change assistance control is requested, the device of the embodiment selects the one or more cubic objects of the information acquisition target from the one or more cubic objects of the information acquisition target as one or more cubic objects of the condition determination target, wherein the number of the selected cubic objects of the information acquisition target as the cubic objects of the condition determination target is limited to a second predetermined number (six in this embodiment). The cubic object of the condition determination target is a target subject to the lane change execution condition determination process. The device of the embodiment executes the lane change execution condition determination process with respect to the one or more cubic objects of the condition determination target.

[0129] As described above, in this embodiment, the first predetermined number is twelve, and the second predetermined number is six. The second predetermined number is less than the first predetermined number. In this regard, the second predetermined number may be equal to the first predetermined number. In other words, the second predetermined number may be less than or equal to the first predetermined number.

[0130] A probability that the own vehicle 100 touches the cubic object near the own vehicle 100 while causing the own vehicle 100 to move to the adjacent target lane is higher than a probability that the own vehicle 100 touches the cubic object located away from the own vehicle 100 while causing the own vehicle 100 to move to the adjacent target lane. <Kubische Objekte des Informationenbezugsziels>

[0131] Accordingly, the apparatus of the embodiment performs a selection process of the information acquisition target cubic object for selecting the one or more cubic objects as the one or more cubic objects of the information acquisition target (ie, the one or more condition determination target candidates of the cubic objects) as described below. In particular, as shown in Fig. 9, the apparatus of the embodiment executes a first sub-selection process for selecting the one or more cubic objects from the one or more cubic objects located in an area A1 in the order of increasing distance with respect to the own vehicle 100 as the one or more cubic objects of the information acquisition target (ie, the one or more condition determination target candidates of the cubic objects), respectively.

[0132] In this embodiment, the area A1 is defined by a front line L11, a rear line L12, a left line L14, and a right line L13. The front line L11 is a line extending perpendicular to the longitudinal center line LC of the host vehicle 100 and passing a point on the longitudinal center line LC offset forward from the reference point P of the host vehicle 100 by a predetermined distance D11. Hereinafter, the longitudinal center line LC will be referred to as the "own vehicle center line LC." The rear line L12 is a line extending perpendicular to the own vehicle center line LC and passing a rear end of the host vehicle 100. The left line L14 is a line extending parallel to the own vehicle center line LC and offset leftward from the own vehicle center line LC by a predetermined distance D14.The right line L13 is a line extending parallel to the center line of the host vehicle LC and offset to the right from the center line of the host vehicle LC by a predetermined distance D13. In this embodiment, the predetermined distance D14 is equal to the predetermined distance D13.

[0133] The device of the embodiment terminates the execution of the first sub-selection process when the number of cubic objects of the information acquisition target selected in the execution of the first sub-selection process reaches twelve. In the Fig. In the example shown in Figure 9, the cubic objects 101 to 103 are located in the area A1. Therefore, the cubic objects 101 to 103 are selected as the respective cubic objects of the information acquisition target. As a result, the number of cubic objects of the information acquisition target selected at this time is three.

[0134] When the number of cubic objects of the information acquisition target selected in the execution of the first sub-selection process does not reach twelve, the apparatus of the embodiment executes a second sub-selection process for selecting the one or more cubic objects from the one or more cubic objects located in the area A2 in the order of increasing distance with respect to the own vehicle 100 as the one or more cubic objects of the information acquisition target (ie, the one or more condition determination target candidates of the cubic objects).

[0135] In this embodiment, the area A2 includes an area defined by the front line L11, the left line L14, the right line L13, and a front line L15, and an area defined by the rear line L12, the left line L14, the right line L13, and a rear line L16. The front line L15 is a line extending perpendicular to the center line of the own vehicle LC and passing a point on the longitudinal center line of the own vehicle LC offset forward from the reference point P of the own vehicle 100 by a predetermined distance D15. In this embodiment, the predetermined distance D15 is greater than the predetermined distance D11.Furthermore, the rear line L16 is a line that extends perpendicular to the center line of the own vehicle LC and passes through a point on the longitudinal center line of the own vehicle LC that is offset rearward from the reference point P of the own vehicle 100 by a predetermined distance D16. In this exemplary embodiment, the predetermined distance D16 is equal to the predetermined distance D15.

[0136] The device of the exemplary embodiment ends the execution of the second sub-selection process when the total number of cubic objects of the information reference target selected during the execution of the first and second sub-selection processes reaches twelve. In the Fig. In the example shown in Figure 9, the cubic objects 104 to 109 are located in the area A2. The number of cubic objects of the information acquisition target is three when the execution of the second selection process is started. Therefore, the cubic objects 104 to 109 are selected as the respective cubic objects of the information acquisition target. As a result, the total number of cubic objects of the information acquisition target selected at this time is nine.

[0137] When the total number of the cubic objects of the information acquisition target selected in the execution of the second sub-selection process does not reach twelve, the apparatus of the embodiment executes a third sub-selection process of selecting the one or more cubic objects from the one or more cubic objects located in an area A3 in the order of increasing distance with respect to the own vehicle 100 as the one or more cubic objects of the information acquisition target (ie, the one or more condition determination target candidates of the cubic objects), respectively.

[0138] In this embodiment, the area A3 includes an area defined by the front line L15, the rear line L16, the left line L14, and a left line L18, and an area defined by the front line L15, the rear line L16, the right line L13, and a right line L17. The left line L18 is a line extending parallel to the center line of the own vehicle LC and offset to the left from the center line of the own vehicle LC by a predetermined distance D18. In this embodiment, the predetermined distance D18 is greater than the predetermined distance D14. Further, the right line L17 is a line extending parallel to the center line of the own vehicle LC and offset to the right from the center line of the own vehicle LC by a predetermined distance D17.In this embodiment, the predetermined distance D17 is greater than the predetermined distance D13, and is equal to the predetermined distance D18.

[0139] The apparatus of the embodiment terminates the execution of the third sub-selection process when the total number of cubic objects of the information acquisition target selected in the first, second, and third sub-selection processes reaches twelve. In the Fig. In the example shown in Figure 9, the cubic objects 110 to 112 are located in the area A3. The total number of cubic objects of the information acquisition target is nine when the execution of the third sub-selection process is started. Therefore, the cubic objects 110 to 112 are selected as the cubic objects of the information acquisition target. As a result, the total number of cubic objects of the information acquisition target selected at this time is twelve. <Kubisches Objekt des Bedingungsbestimmungsziels>

[0140] When the execution of the lane change assist control is requested while the lane keeping control is being executed, the apparatus of the embodiment executes a condition determination target cubic object selection process for selecting the cubic objects from the one or more information acquisition target cubic objects (ie, the one or more condition determination target candidates of the cubic objects) in the order of increasing distance with respect to the own vehicle 100 as the one or more condition determination target cubic objects.

[0141] If the number of cubic objects of the information acquisition target is less than or equal to six, the device of the embodiment selects all of the cubic objects of the information acquisition target as the cubic objects of the condition determination target and terminates the execution of the condition determination target selection process. On the other hand, if the number of cubic objects of the information acquisition target is greater than six, the device of the embodiment selects six cubic objects of the information acquisition target as the cubic objects of the condition determination target and then terminates the execution of the condition determination target selection process.

[0142] The apparatus of the embodiment determines whether a lane change execution condition including a condition G5 described below and a condition G6 is satisfied with respect to each of the cubic objects of the condition determination target in the execution of the lane change execution condition determination process.

[0143] Condition G5 is a condition that the predicted reaching time TTC of each of the cubic objects of the condition determination target is greater than or equal to a predetermined reaching time TTCth_2. Note that the predicted reaching time TTC is obtained by dividing the longitudinal distance Px of the cubic object of the condition determination target by the relative longitudinal velocity Vx of the cubic object of the condition determination target.

[0144] The condition G6 is a condition that each of the cubic objects of the condition determination target on the adjacent target lane is not immediately adjacent to the own vehicle 100. In other words, none of the cubic objects of the condition determination target is located within a range defined by the X coordinate Px of the front end of the own vehicle 100 and the X coordinate Px of the rear end of the own vehicle 100.

[0145] When the lane change execution condition is satisfied for each of the cubic objects of the condition determination target, the apparatus of the embodiment starts executing the lane change assist control.

[0146] According to the device of the embodiment, the number of cubic objects selected as the information acquisition target cubic objects is limited to a certain constant number. Therefore, the computational load for executing the fusion process can be reduced. As a result, the fusion process can be executed quickly and accurately.

[0147] As in Fig. 10, when the existing cubic object 113 is located on a left adjacent lane behind the own vehicle 100, and the existing cubic object 114 is located on the traveling lane of the own vehicle 100 behind the own vehicle 100, the reflection point Pref between the existing cubic object 113 and the existing cubic object 114 may be detected by any one of the surrounding radar sensors 16a due to a relatively low detection accuracy of the surrounding radar sensors 16a.

[0148] In this case, when the fusion process for detecting the cubic object is performed using the reflection point Pref between the existing cubic object 113 and the existing cubic object 114, the cubic object may not be accurately detected based on the information about the reflection point Pref between the existing cubic object 113 and the existing cubic object 114. Therefore, the non-existing cubic object may be detected between the existing cubic object 113 and the existing cubic object 114. In this case, even if the detected cubic objects satisfy the lane change execution condition, the situation around the own vehicle 100 is not the situation in which the execution of the lane change assist control is permitted.

[0149] The information about the reflection point of the non-existent cubic object output from the surrounding radar sensors 16a has a specific pattern. The device of the embodiment prestores a pattern of the information about the reflection point of the non-existent cubic object among the existing cubic objects output from the surrounding radar sensors 16a as a non-existent cubic object information pattern. When the pattern of the information about the reflection point of the detected cubic object output from the surrounding radar sensors 16a corresponds to the information pattern of the non-existent cubic object, and the detected cubic object in question is selected as the cubic object of the condition determination target, the device of the embodiment determines that the lane change execution condition is not satisfied.In this case, the device of the embodiment does not execute the lane change assist control.

[0150] The device of the embodiment may be configured to pre-store a pattern of the reflection point information of the non-existent cubic object that is not located among existing cubic objects, output from the surrounding radar sensors 16a, as an additional non-existent cubic object information pattern. In this case, the device of the embodiment may be configured to determine that the lane change execution condition is not satisfied when the pattern of the reflection point information of the detected cubic object output from the surrounding radar sensors 16a corresponds to the additional non-existent cubic object information pattern, and the detected cubic object in question is selected as the cubic object of the condition determination target.

[0151] Furthermore, as in Fig. As shown in FIG. 11, the surrounding radar sensors 16a may detect the reflection point Pref at a location around which no cubic object exists. In this case, when the fusion process for detecting the cubic object is performed using the reflection point Pref in question, the cubic object may not be accurately detected based on the information about the reflection point Pref in question. Therefore, the non-existent cubic object may be detected. In this case, even if the detected cubic objects satisfy the lane change execution condition, the situation around the own vehicle 100 is not the situation in which the execution of the lane change assist control is permitted.

[0152] The reflection point Pref at the location around which no cubic object is present may be detected by the surround radar sensors 16a at a right area near a right boundary of the detection area or a left area near a left boundary of the detection area. As described above, the detection areas of the surround radar sensors 16a partially overlap at the right area near the right boundary of the detection area and the left area near the left boundary of the detection area. Therefore, if one of the surround radar sensors 16a detects the reflection point Pref at the right area near the right boundary of its detection area or the left area near the left boundary of its detection area, and another surround radar sensor 16a does not detect the same reflection point Pref, the reflection point Pref in question may be the reflection point Pref of the non-present cubic object.In particular, if one of the surrounding radar sensors 16a detects the reflection point Pref in the overlapped area of ​​the detection range thereof, and any of the remaining surrounding radar sensors 16a does not detect the same reflection point Pref, the reflection point Pref in question may be the reflection point Pref of the non-existent cubic object.

[0153] Accordingly, when one of the surrounding radar sensors 16a detects the reflection point Pref in the right area near the right boundary of its detection range or the left area near the left boundary of its detection range, and any of the remaining surrounding radar sensors 16a does not detect the same reflection point Pref, the device of the embodiment determines that the lane change execution condition is not satisfied. In this case, the device of the embodiment does not execute the lane change assist control.

[0154] Thereby, the lane change execution condition determination process can be properly executed. As a result, the host vehicle 100 can be caused to safely move to the adjacent target lane through the lane change assist control. <Konkrete Operation der Vorrichtung des Ausführungsbeispiels>

[0155] The CPU of the ECU 90 of the device of the embodiment is configured or programmed to execute a process shown by a flowchart in Fig. 12 every time a predetermined time Δt elapses.

[0156] Therefore, at a predetermined time, the CPU starts a process from a step 1200 in Fig. 12, and then proceeds to step 1210 to determine whether execution of the following inter-vehicle distance control is requested. If execution of the following inter-vehicle distance control is requested, the CPU determines "Yes" in step 1210 and then executes a process of step 1220 described below. The CPU then proceeds to step 1295 to terminate this routine once.

[0157] Step 1220: The CPU executes the follow-up inter-vehicle distance control. If the CPU has executed the follow-up inter-vehicle distance control during the execution of the process of this step, the CPU continues to execute the follow-up inter-vehicle distance control. On the other hand, if the CPU does not execute the follow-up inter-vehicle distance control during the execution of the process of this step, the CPU starts executing the follow-up inter-vehicle distance control.

[0158] On the other hand, if the execution of the following inter-vehicle distance control is not requested, the CPU determines "No" in step 1210 and then executes a process of step 1230 described below. Then, the CPU proceeds the process to step 1295 to terminate this routine once.

[0159] Step 1230: The CPU stops the execution of the follow-up inter-vehicle distance control. If the CPU stopped the execution of the follow-up inter-vehicle distance control during the execution of the process of this step, the CPU continues to stop the execution of the follow-up inter-vehicle distance control.

[0160] Furthermore, the CPU is configured or programmed to execute a sequence of operations indicated by a flow chart in Fig. 13 every time the predetermined time Δt elapses.

[0161] Therefore, at a predetermined time, the CPU starts a process from a step 1300 in Fig. 13, and then proceeds to step 1310 to determine whether the following inter-vehicle distance control is being executed and the execution of the lane keeping control is requested. If the following inter-vehicle distance control is being executed and the execution of the lane keeping control is requested, the CPU determines "Yes" in step 1310 and then executes a process of step 1320 described below. The CPU then proceeds to step 1395 to terminate this routine once.

[0162] Step 1320: The CPU executes lane keeping control. If the CPU has executed lane keeping control during the execution of the process of this step, the CPU continues to execute lane keeping control. On the other hand, if the CPU does not execute lane keeping control during the execution of the process of this step, the CPU starts executing lane keeping control.

[0163] On the other hand, when the following inter-vehicle distance control is not executed, or the execution of the lane keeping control is not requested, the CPU determines "No" in step 1310 and then executes a process of step 1330 described below. Then, the CPU proceeds the process to step 1395 to terminate this routine once.

[0164] Step 1330: The CPU stops the execution of the lane keeping control. If the CPU stopped the execution of the lane keeping control during the execution of the process of this step, the CPU continues to stop the execution of the lane keeping control.

[0165] Furthermore, the CPU is configured or programmed to execute a sequence of operations indicated by a flow chart in Fig. 14 every time the predetermined time Δt elapses.

[0166] Therefore, the CPU starts a process from a step 1400 in Fig. 14, and then proceeds to step 1410 to determine whether the lane keeping control is being executed and the execution of the lane change assist control is requested. If the lane keeping control is being executed and the execution of the lane change assist control is requested, the CPU determines "Yes" in step 1410 and then executes a process of step 1420 described below. The CPU then proceeds to step 1430.

[0167] Step 1420: The CPU executes the condition determination target cubic object selection process to select the one or more cubic objects from the one or more information acquisition target cubic objects as the one or more condition determination target cubic objects.

[0168] When the CPU proceeds to step 1430, the CPU determines whether the one or more cubic objects of the condition determination target selected in step 1420 satisfy the lane change execution condition. If each of the one or more cubic objects of the condition determination target selected in step 1420 satisfy the lane change execution condition, the CPU determines "Yes" in step 1430 and then executes a process of step 1440 described below. The CPU then proceeds to step 1495 to terminate this routine once.

[0169] Step 1440: The CPU executes the lane change assist control. If the CPU has executed the lane change assist control during the execution of the process of this step, the CPU continues to execute the lane change assist control. On the other hand, if the CPU does not execute the lane change assist control during the execution of the process of this step, the CPU starts executing the lane change assist control.

[0170] On the other hand, if any of the one or more cubic objects of the condition determination target selected in step 1420 does not satisfy the lane change execution condition, the CPU determines "No" in step 1430 and then executes a process of step 1450 described below. Then, the CPU proceeds the process to step 1495 to terminate this routine once.

[0171] Step 1450: The CPU stops the execution of the lane change assist control. If the CPU stopped the lane change assist control while executing the process of this step, the CPU continues to stop the execution of the lane change assist control.

[0172] When the lane keeping control is not executed, or the execution of the lane change assist control is not requested at a time of executing a process of step 1410, the CPU determines "No" in step 1410 and then executes the process of step 1450 described above. Then, the CPU proceeds the process to step 1495 to terminate this routine once.

[0173] Furthermore, the CPU is configured or programmed to execute a sequence of operations indicated by a flow chart in Fig. 15 every time the predetermined time Δt elapses.

[0174] Therefore, at a predetermined time, the CPU starts a process from step 1500 in Fig. 15, and then sequentially executes the processes of steps 1510 and 1520, which will be described below. Then the CPU continues with the process to step 1530.

[0175] Step 1510: The CPU acquires the reflection point information.

[0176] Step 1520: The CPU executes the fusion process using the reflection point information acquired in step 1510.

[0177] When the CPU continues with the process to step 1530, the CPU performs the selection process of the cubic object of the information acquisition target by executing a flowchart in Fig. 16. Therefore, when the CPU proceeds to step 1530, the CPU starts a process from step 1600, and then executes a process from step 1610 described below. Then, the CPU proceeds to step 1620.

[0178] Step 1610: The CPU executes the first sub-selection process using the information of the cubic object.

[0179] When the CPU proceeds to step 1620, the CPU determines whether the total number of cubic objects of the information acquisition target selected by the process of step 1610 is less than twelve. If the number of cubic objects of the information acquisition target selected by the process of step 1610 is less than twelve, the CPU determines "Yes" in step 1620 and then executes a process of step 1630. Then, the CPU proceeds to step 1640.

[0180] Step 1630: The CPU executes the second sub-selection process using the information of the cubic object.

[0181] When the CPU proceeds to step 1640, the CPU determines whether the total number of cubic objects of the information acquisition target selected by the processes of steps 1610 and 1630 is less than twelve. If the total number of cubic objects of the information acquisition target selected by the processes of steps 1610 and 1630 is less than twelve, the CPU determines "Yes" in step 1640 and then executes a process of step 1650 described below. The CPU then proceeds to step 1595 in Fig. 15 via a step 1695 to terminate this routine once.

[0182] Step 1650: The CPU executes the third sub-selection process using the information of the cubic object.

[0183] If the total number of cubic objects of the information acquisition target is twelve at a time of execution of the processes of steps 1620 and 1640, the CPU determines "No" in steps 1620 and 1640, respectively, and then advances the process to step 1595 in Fig. 15 via step 1695 to terminate this routine once.

[0184] According to the apparatus of the embodiment described in the routines in Fig. 12 to Fig. 16, the computation load for executing the fusion process can be reduced, and the own vehicle 100 is caused to safely move to the adjacent target lane via the lane change assist control.

[0185] It should be noted that the present invention is not limited to the above embodiment, and various modifications can be made within the scope of the present invention.

[0186] For example, the apparatus of the embodiment may be configured to execute the lane change assist control when the execution of the lane change assist control is requested and the lane change execution condition is satisfied, regardless of whether the lane keeping control is executed.

[0187] Further, the apparatus of the embodiment may be configured to execute the lane change assist control when the execution of the lane change assist control is requested and the lane change execution condition is satisfied while the following inter-vehicle distance control is being executed, regardless of whether the lane keeping control is being executed.

[0188] Furthermore, the apparatus of the embodiment may be configured to perform an alternative selection process for selecting the one or more of the Fig. 17 in the order of increasing distance with respect to the own vehicle 100 as the one or more cubic objects of the information acquisition target, instead of the first to third sub-selection processes described above.

[0189] In a Fig. In the example shown in Fig. 17, the area A4 is an area defined by a front line L21, a rear line L22, a left line L24, and a right line L23. The front line L21 is a line extending perpendicular to the center line of the own vehicle LC and passing a point on the center line of the own vehicle LC offset by a predetermined distance D21 forward from the front end of the own vehicle 100. The rear line L22 is a line extending perpendicular to the center line of the own vehicle LC and passing a point on the center line of the own vehicle LC offset by a predetermined distance D22 rearward from the rear end of the own vehicle 100. The left line L24 is a line extending parallel to the center line of the own vehicle LC and offset to the left from the center line of the own vehicle LC by a predetermined distance D24.The right line L23 is a line extending parallel to the center line of the host vehicle LC and offset to the right from the center line of the host vehicle LC by a predetermined distance D23. In this embodiment, the predetermined distances D21, D22, D23, and D24 are each equal to each other.

[0190] Furthermore, the apparatus of the embodiment uses the one or more fusion objects FS as the one or more cubic objects of the condition determination target, which represent the one or more cubic objects located in the surroundings of the own vehicle 100. In this regard, the apparatus of the embodiment may be configured to use one or more cubic objects, each specified based on a reflection point Pref, as the one or more cubic objects of the condition determination target (that is, those cubic objects that are targets subject to the process of determining whether the lane change assist control can be safely executed), instead of the one or more fusion objects FS.Further, the apparatus of the embodiment may be configured, for example, to use the one or more cubic objects each produced based on the one or more reflection points as the one or more cubic objects of the state determination target by a method different from a method for producing the one or more fusion objects FS described above.

[0191] A vehicle lane change assist device according to the invention executes lane change assist control for moving a host vehicle (100) to an adjacent target lane when execution of the lane change assist control is requested by a driver of the host vehicle and a lane change execution condition is satisfied. The lane change execution condition is a condition that the host vehicle does not contact the one or more detected cubic objects while the host vehicle is caused to move to the adjacent target lane by the lane change assist control. The vehicle lane change assist device determines that the lane change execution condition is not satisfied when one or more non-existent cubic objects are detected as the one or more detected cubic objects.< / spurwechselassistenzsteuerung> < / spurhaltesteuerung> < / nachfolgezwischenfahrzeugabstandssteuerung> < / kamerasensor> < / umgebungsradarsensoren>

Claims

[1] Vehicle lane change assistance device, with: one or more sensors (16a) for detecting one or more cubic objects located in the vicinity of a host vehicle (100) and for outputting information about the detected one or more cubic objects as information of the cubic object; and an electronic control unit (90) for processing the information of the cubic object output by the one or more sensors (16a) and for recognizing the one or more cubic objects as one or more recognized cubic objects, characterized by , that the electronic control unit (90) is configured to: Executing a lane change assistance control for moving the own vehicle (100) to an adjacent target lane when execution of the lane change assistance control is requested by a driver of the own vehicle (100) and a lane change execution condition is satisfied, wherein the adjacent target lane is a lane adjacent to a lane on which the own vehicle (100) is moving, the lane change execution condition is a condition that the own vehicle (100) does not contact the one or more detected cubic objects while the own vehicle (100) is caused to move to the adjacent target lane by the lane change assistance control; and Determining that the lane change execution condition is not satisfied when one or more non-existent cubic objects are detected as the one or more detected cubic objects, wherein the electronic control unit (90) is further configured to: Selecting the one or more detected cubic objects that satisfy a first condition as one or more cubic object candidates of the condition determination target, wherein the number of the one or more cubic object candidates of the condition determination target is limited to a first predetermined number; Selecting the one or more cubic object candidates of the condition determination target that satisfy a second condition as one or more cubic objects of the condition determination target, wherein the number of cubic objects of the condition determination target is limited to a second predetermined number less than or equal to the first predetermined number when execution of the lane change assistance control is requested by the driver of the own vehicle (100); and Using the one or more cubic objects of the condition determination target as the one or more detected cubic objects in executing a process for determining whether the lane change execution condition is satisfied. [2] Vehicle lane change assistance device according to claim 1, characterized by in that the electronic control unit (90) is configured to determine that the one or more non-existent cubic objects are recognized as the one or more detected cubic objects when a pattern of the cubic object information output by the one or more sensors (16a) corresponds to a pattern of the cubic object information output by the one or more sensors (16a) that detect the one or more non-existent cubic objects. [3] Vehicle lane change assistance device according to claim 2, characterized byin that the electronic control unit (90) is configured to use a pattern of the information of the cubic object output by the one or more sensors (16a) that detect the non-existent cubic object among the existing cubic objects as the pattern of the information of the cubic object output by the one or more sensors (16a) that detect the one or more non-existent cubic objects. [4] Vehicle lane change assistance device according to one of claims 1 to 3, characterized by , that the one or more sensors comprise at least two sensors (16a), and the electronic control unit (90) is configured to determine that the one or more non-existent cubic objects are recognized as the one or more recognized cubic objects when one of the sensors (16a) does not output the same cubic object information as the cubic object information output by the other sensor (16a). [5] Vehicle lane change assistance device according to one of claims 1 to 3, characterized by , that the one or more sensors comprise a first sensor (16a) and a second sensor (16a), a part of a first detection area of ​​the cubic object, within which the first sensor (16a) detects the one or more cubic objects, and a part of a second detection area of ​​the cubic object, within which the second sensor (16a) detects the one or more cubic objects, overlap, and the electronic control unit (90) is configured to determine that the one or more non-existent cubic objects are detected as the one or more detected cubic objects when the first sensor (16a) detects the one or more cubic objects in the part of the first detection range of the cubic object that overlaps the second detection range of the cubic object, and the second sensor (16a) does not detect the same one or more cubic objects as the one or more cubic objects detected by the first sensor (16a). [6] Vehicle lane change assistance device according to claim 1, characterized by that the electronic control unit (90) is configured to determine that the one or more detected cubic objects located in a predetermined area in the vicinity of the own vehicle (100) satisfy the first condition. [7] Vehicle lane change assistance device according to claim 1 or 6, characterized by , that the electronic control unit (90) is configured to determine that the one or more cubic object candidates of the condition determination target having a predetermined reaching time that is shorter than or equal to a predetermined predicted reaching time satisfy the second condition, and the predicted reaching time is a predicted time required for the one or more cubic object candidates of the condition determination target to reach the own vehicle (100).

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