US 9,809,223 B2
Driving assistant for vehicles
Akihiro Watanabe, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Jul. 1, 2016, as Appl. No. 15/200,852.
Claims priority of application No. 2015-137572 (JP), filed on Jul. 9, 2015.
Prior Publication US 2017/0008531 A1, Jan. 12, 2017
Int. Cl. B60W 30/18 (2012.01); B60W 40/04 (2006.01); B60W 40/06 (2012.01)
CPC B60W 30/18163 (2013.01) [B60W 40/04 (2013.01); B60W 40/06 (2013.01); B60W 2520/10 (2013.01); B60W 2550/10 (2013.01); B60W 2550/30 (2013.01)] 4 Claims
OG exemplary drawing
 
1. A driving assistant for vehicles that determines whether or not an own vehicle is allowed to enter an adjacent lane that is adjacent to a lane on which the own vehicle is travelling, and provides lane change assistance, the driving assistant for vehicles comprising a processor programmed to:
estimate a plurality of coming-level time periods in which the own vehicle comes level with respective ones of a plurality of parallel-travelling vehicles on the adjacent lane and provide setting of a proposed lane change section that is a proposed section where the own vehicle enters the adjacent lane, on a basis of positional relation of the own vehicle to one respective one of the plurality of parallel-travelling vehicles with which the own vehicle comes level in a shortest one among the plurality of coming-level time periods; and
determine whether or not the own vehicle is allowed to enter the proposed lane change section, on a basis of a moving speed of the proposed lane change section and a speed of the own vehicle, the moving speed being an average speed of two of the parallel-travelling vehicles in a case where the proposed lane change section is located between two of the plurality of parallel-travelling vehicles, and being a speed of one of the two of the plurality of parallel-travelling vehicles in a case where the proposed lane change section is not located between the two of the plurality of parallel-travelling vehicles, the one of the two of the plurality of parallel-travelling vehicles having the proposed lane change section set forward of or behind the own vehicle, wherein
when the own vehicle is allowed to enter the proposed lane change section, the processor controls the own vehicle to enter the proposed lane change section.