Patent Description:
Recently, a vehicle may be equipped with a plurality of systems for supporting the driving of a driver to enhance his or her driving convenience.

Among such driver supporting systems, a lane change control system may determine a speed, a location, and the like of a surrounding vehicle are suitable for performing a lane change and may control steering torque, a vehicle speed, and the like, thus performing a lane change.

In this case, the lane change control system may determine whether a lane change is possible on the basis of a vehicle located at a rear side of a host vehicle. When it is determined that the lane change is possible, the lane change control system may perform lane change control. See <CIT>, <CIT>, <CIT> and <CIT>.

We have discovered that the conventional lane change control system may fail to consider a vehicle located at a front side of the host vehicle when determining whether a lane change is possible.

Furthermore, when it is verified that the lane change is impossible, the lane change control system may notify a driver of state information and does not perform a lane change. In this case, we have also discovered that the lane change control system does not consider a possibility of the lane change based on acceleration or deceleration of the vehicle.

This object relates to an apparatus for a lane control according to claim <NUM> and a method for a lane change control according to claim <NUM>.

An aspect of the present disclosure provides an apparatus for lane change control and a method thereof to stably perform the lane change control by determining whether a lane change is possible in consideration of a vehicle located at a front side as well as a vehicle located at a rear side of a host vehicle.

More concretely, the present disclosure provides an apparatus for lane change control for implementing a more precise lane change control function by predicting whether a lane change is possible in an acceleration or deceleration state in a state where a lane change is impossible and performing lane change control based on acceleration or deceleration depending on the predicted result and a method thereof.

Another aspect of the present disclosure provides an apparatus for lane change control for enhancing the satisfaction of a driver by performing lane change control in consideration of a tendency of the driver for acceleration or deceleration upon lane change control and a method thereof.

According to an aspect of the present disclosure, an apparatus for lane change control according to claim <NUM> is provided.

The apparatus for lane change control may further include a calculation device configured to calculate a first critical distance based on a vehicle speed of the first vehicle and a vehicle speed of the host vehicle and calculate a second critical distance based on a vehicle speed of the second vehicle and the vehicle speed of the host vehicle.

The determination device may be configured to determine that both the lane change conditions for the first and second vehicles are met, when the first and second critical distances are greater than or equal to a reference distance.

The apparatus for lane change control may further include a prediction device configured to determine a speed adjustment range of the host vehicle based on lane change configuration information preset by a driver of the host vehicle when the first or second critical distance is less than a reference distance and predict whether a lane change is possible with acceleration or deceleration of the host vehicle.

The lane change configuration information may include a maximum speed difference for allowing acceleration and a maximum speed difference for allowing deceleration.

The prediction device may be configured to determine the speed adjustment range based on the maximum speed difference for allowing acceleration and the maximum speed difference for allowing deceleration.

The prediction device may be configured to determine that the lane change is possible with the acceleration, when there are at least one or more first speeds capable of performing the lane change within the speed adjustment range corresponding to the maximum speed difference for allowing acceleration on the basis of a setting speed of the host vehicle.

The controller may be configured to determine a target speed with respect to a lower value among the at least one or more first speeds, when it is verified that the lane change is possible with the acceleration.

The prediction device may be configured to determine that the lane change is possible with the deceleration, when there are at least one or more second speeds capable of performing the lane change within the speed adjustment range corresponding to the maximum speed difference for allowing deceleration on the basis of a setting speed of the host vehicle.

The controller may be configured to determine a target speed upon lane change control on the basis of a higher value among the at least one or more second speeds, when it is verified that the lane change is possible with the deceleration.

The lane change configuration information may include driving pattern information of the driver of the host vehicle during the lane change control, and the driving pattern includes a constant speed driving, an acceleration in driving, a deceleration in driving, and a selection thereof by the driver of the host vehicle.

When the lane change is possible with the acceleration or the deceleration, the controller may be configured to determine a target speed of the host vehicle based on the acceleration in driving or the deceleration in driving, and the driving pattern information.

When the driving pattern information shows the constant speed driving pattern of the driver, the controller may be configured to set a target speed of the host vehicle based on a lowest value among differences between a setting speed of the host vehicle and speeds capable of performing the lane change within the speed adjustment range.

When the driving pattern information shows the selection pattern by the driver, the controller may be configured to display an information screen on a display and to inquire the driver to select the acceleration or the deceleration for the lane change, and determine the target speed of the host vehicle based on the selection by the driver through the information screen.

According to another aspect of the present disclosure, a method for lane change control is provided according to claim <NUM>.

It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure, which is defined by the appended claims.

In addition, in describing an exemplary form of the present disclosure, if it is determined that a detailed description of related well-known configurations or functions blurs the gist of the present disclosure, it will be omitted.

In describing elements of forms of the present disclosure, the terms <NUM>st, <NUM>nd, first, second, A, B, (a), (b), and the like may be used herein. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements irrespective of the nature, turn, or order of the corresponding elements. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meanings as those generally understood by those skilled in the art to which the present disclosure pertains. Such terms as those defined in a generally used dictionary are to be interpreted as having meanings equal to the contextual meanings in the relevant field of art, and are not to be interpreted as having ideal or excessively formal meanings unless clearly defined as having such in the present application.

<FIG> is a block diagram illustrating a configuration of an apparatus for lane change control according to an exemplary form of the present disclosure.

An apparatus <NUM> in one form of the present disclosure may be implemented in a vehicle. In this case, the apparatus <NUM> may be integrated with control units in the vehicle. Furthermore, the apparatus <NUM> may be implemented independently of the control units in the vehicle and may be connected with the control units of the vehicle by a separate connection means. Herein, the apparatus <NUM> may be driven as a lane change assist system. The lane change assist system may refer to a system which assists in controlling steering torque and a vehicle speed and safely change a lane without a collision with another vehicle located on a lane to be changed (i.e., a target lane), when a driver wants to change a lane while driving.

Referring to <FIG>, the apparatus <NUM> may include a controller <NUM>, an interface <NUM>, a sensor device <NUM>, a communication device <NUM>, a storage <NUM>, a calculation device <NUM>, a determination device <NUM>, and a prediction device <NUM>. Herein, the controller <NUM>, the calculation device <NUM>, the determination device <NUM>, and the prediction device <NUM> of the apparatus <NUM> according to an exemplary form of the present disclosure may be implemented as at least one or more processors.

The controller <NUM> may process a signal transmitted between respective components of the apparatus <NUM>.

The interface <NUM> include an input means for receiving a command from the driver and an output means for outputting an operation state, an operation result, and the like of the lane change control device <NUM>.

Herein, the input means may include a key button and may further include a mouse, a joystick, a jog shuttle, a stylus pen, and the like. The input means may further include a soft key implemented on a display.

The output means may include the display and may further include a voice output means such as a speaker. In this case, if a touch sensor such as a touch film, a touch sheet, or a touch pad is installed in the display, the display may operate as a touch screen and may be implemented in the form of integrating the input means with the output means.

In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor-LCD (TFT-LCD), an organic light-emitting diode (OLED), a flexible display, a field emission display (FED), or a three-dimensional (3D) display.

The sensor device <NUM> may detect other vehicles which are traveling on a lane (e.g., a target lane) to be change upon lane change control. In this case, the sensor device <NUM> may include one or more sensors which detect a first vehicle behind a host vehicle on a lane to be changed and a second vehicle in front of the host vehicle on the lane to be changed.

The communication device <NUM> may include a communication module for supporting a communication interface with electronics, and/or control units mounted on the vehicle. As an example, the communication module may receive information detected by the sensor device <NUM>. Furthermore, the communication module may transmit a control signal of the controller <NUM> to each drive unit in the vehicle upon lane change control.

Herein, the communication module may include a module for supporting vehicle network communication such as controller area network (CAN) communication, local interconnect network (LIN) communication, flex-ray communication, and Ethernet communication.

The storage <NUM> may store data, an algorithm, and/or the like desired for operating the apparatus <NUM>.

For example, the storage <NUM> may store condition information, a command, and/or an algorithm desired to perform a lane change control operation. Furthermore, the storage <NUM> may store detection information of a first vehicle and a second vehicle and may store a command and/or algorithm for calculating a critical distance based on the detection information of the first vehicle and the second vehicle.

Moreover, the storage <NUM> may store a command, an algorithm, and/or the like for calculating a critical distance based on the detection information of the first vehicle and the second vehicle, determining whether a lane change is possible, and determining a target speed.

Herein, the storage <NUM> may include storage media, for example, a random access memory (RAM), a static RAM (SRAM), a read-only memory (ROM), a programmable ROM (PROM), and an electrically erasable PROM (EEPROM).

When a turn signal is activated, the determination device <NUM> may determine a lane change condition for each of the first vehicle behind a lane to be changed and the second vehicle in front of the lane to be changed, upon lane change control.

Herein, the lane change condition may include a condition where a first critical distance calculated based on a vehicle speed of the first vehicle and a vehicle speed of the host vehicle and a second critical distance calculated based on a vehicle speed of the second vehicle and the vehicle speed of the host vehicle are greater than or equal to a reference distance.

A description will be given for the first critical distance and the second critical distance with reference to <FIG>.

<FIG> is a drawing illustrating an operation of calculating a critical distance in an apparatus in one form of the present disclosure. As shown in <FIG>, a first vehicle <NUM> may be located at a rear side of a host vehicle <NUM>, that is, behind a host vehicle, traveling on a target lane to which the host vehicle will make the lane change. In this case, a first critical distance may refer to a distance considering risk to the first vehicle <NUM> when the host vehicle <NUM> performs lane change control to the lane to be changed.

Thus, a calculation device <NUM> of <FIG> may calculate the first critical distance from the first vehicle <NUM> with reference to Equation <NUM> below.

In Equation <NUM> above, Scri. rear may denote the first critical distance from the first vehicle <NUM>, Vrear may denote a lower value between a real vehicle speed of the first vehicle <NUM> and a maximum speed limit (e.g., <NUM>/h), V may denote a real vehicle speed of the host vehicle <NUM>, tB may denote a time (e.g., <NUM> seconds) desired until the first vehicle <NUM> starts to decelerate after lane change control starts, a may denote a deceleration value (e.g., <NUM>/s<NUM>) of the first vehicle <NUM>, and tG may denote a time (e.g., <NUM> second) relative to V for a clearance between vehicles after deceleration of the first vehicle <NUM>.

The second vehicle <NUM> may be located at a front side of the host vehicle <NUM>, that is, in front of the host vehicle, travelling on the target lane. In this case, a second critical distance may refer to a distance considering risk to the second vehicle <NUM> when the host vehicle <NUM> performs lane change control to the target lane.

A calculation device <NUM> of <FIG> may calculate the second critical distance from the second vehicle <NUM> with reference to Equation <NUM> below.

In Equation <NUM> above, Scri. front may denote the second critical distance from the second vehicle <NUM>, V may denote a real vehicle speed of the host vehicle <NUM>, Vfront may denote a higher value between a real vehicle speed of the second vehicle <NUM> and a minimum speed limit, tm may denote a time desired until the host vehicle <NUM> detects the second vehicle <NUM> after lane change control starts, as may denote a deceleration value of the second vehicle <NUM>, and tG may denote a time relative to V for a clearance between vehicles after an approaching vehicle decelerates.

When the calculated first and second critical distances are greater than or equal to a reference distance, a determination device <NUM> of <FIG> may determine whether both of lane change conditions for the first and second vehicles are met. Herein, the reference distances may include a reference distance for the first critical distance and a reference distance for the second critical distance.

In this case, a controller <NUM> of <FIG> performs lane change control. Herein, the controller <NUM> may generate a control signal for lane change control and may output the generated control signal to each drive system in a vehicle, for example, a steering system, an accelerator, a brake, and/or the like.

Meanwhile, when the first critical distance or the second critical distance is less than the reference distance, the determination device <NUM> may determine that the lane change conditions are not met. When the lane change condition for the first or second vehicle is not met, the determination device <NUM> determines that a lane change is impossible.

When it is verified that the lane change is impossible based on the lane change condition, a prediction device <NUM> of <FIG> may determine a speed adjustment range of the host vehicle <NUM> based on lane change configuration information preset by the driver.

Herein, the lane change configuration information may include a maximum speed difference for allowing acceleration and a maximum speed difference for allowing deceleration with respect to a setting speed of the host vehicle <NUM>. The prediction device <NUM> may determine a speed adjustment range relative to the setting speed of the host vehicle <NUM> based on the maximum speed difference for allowing acceleration and the maximum speed difference for allowing deceleration, included in the lane change configuration information.

As an example, when the setting speed of the host vehicle <NUM> is <NUM> kph, when the maximum speed difference for allowing deceleration is <NUM> kph, and when the maximum speed difference for allowing acceleration is <NUM> kph, the prediction device <NUM> may determine the speed adjustment range as a range of <NUM> kph to <NUM> kph.

The prediction device <NUM> may predict whether a lane change by acceleration or deceleration is possible within the determined speed adjustment range. In this case, the prediction device <NUM> may predict a situation where lane change control is performed, with respect to each speed within the determined speed adjustment range and may determine whether a lane change is possible for each speed.

Herein, when there are at least one or more first speeds capable of performing a lane change within a speed adjustment range corresponding to the maximum speed difference for allowing acceleration with respect to the setting speed of the host vehicle <NUM>, the prediction device <NUM> may determine that the lane change by acceleration is possible. Furthermore, when there are at least one or more second speeds capable of performing a lane change among speeds slower than the setting speed of the host vehicle <NUM> within the speed adjustment range, the prediction device <NUM> may determine that the lane change by deceleration is possible.

Meanwhile, when it is determined that both the lane changes by the acceleration and the deceleration are impossible, the controller <NUM> may notify a driver of it. In this case, the controller <NUM> may configure a first information screen for notifying the driver that the lane change is impossible and may display the first information screen on a display of an interface <NUM> of <FIG>. A description will be given for the first information screen with reference to <FIG>.

<FIG> are drawings illustrating information screens in one form of the present disclosure. As shown in <FIG>, a first information screen <NUM> may include an information message <NUM> "The lane change is impossible. " Thus, a driver may recognize a state where the lane change is impossible, through the information message <NUM> on the first information screen <NUM>.

When a state where a lane change by acceleration is possible is verified, a controller <NUM> of <FIG> may determine an acceleration based target speed on the basis of a lower value among at least one or more first speeds.

Furthermore, when a state where a lane change by deceleration is possible is verified, the controller <NUM> may determine a deceleration based target speed on the basis of a higher value among at least one or more second speeds.

Meanwhile, lane change configuration information may further include information about a tendency of the driver associated with lane change control (namely, a driving pattern information). For example, the lane change configuration information may include the driving pattern information indicating whether the driver usually performs the lane change control while accelerating, decelerating of the host vehicle, or at a constant speed of the host vehicle, or by selecting any of these (e.g., the acceleration, deceleration, constant speed driving patterns), namely, a driver selection type.

The controller <NUM> may determine a target speed in consideration of information about the driving pattern of the driver for the lane change control. In other words, when the driving pattern of the driver shows the acceleration driving pattern during the lance change, the controller <NUM> may determine an acceleration based target speed as a target speed of a host vehicle. Herein, although the driving pattern of the driver is the acceleration driving pattern, when an acceleration based lane change is impossible, the controller <NUM> may determine a deceleration based target speed as a target speed of the host vehicle.

Meanwhile, when the driving pattern of the driver for the lane change is the deceleration driving pattern, the controller <NUM> may determine a deceleration based target speed as a target speed of the host vehicle. Herein, although the driving pattern of the driver is the deceleration driving pattern, when a deceleration based lane change is impossible, the controller <NUM> may determine an acceleration based target speed as a target speed of the host vehicle.

When the driving pattern of the driver for the lane change is the constant speed driving pattern, the controller <NUM> may determine a target speed of the host vehicle on the basis of a value in which a difference with a setting speed of the host vehicle between the deceleration based target speed and the acceleration based target speed is small.

When the target speed of the host vehicle is determined, the controller <NUM> performs lane change control based on the determined target speed.

In this case, the controller <NUM> may configure an information screen for a situation where lane change control is performed and may display the information screen on a display of an interface <NUM> of <FIG>.

For example, when a target speed of the host vehicle is set on the basis of the deceleration based target speed, as shown in <FIG>, the controller <NUM> may configure a second information screen <NUM> for notifying the driver of a situation where a lane change by deceleration is performed through the information message <NUM> "It is expected to perform a lane change after deceleration. " and may display the second information screen <NUM> on the display.

For another example, when a target speed of the host vehicle is set on the basis of the deceleration based target speed, as shown in <FIG>, the controller <NUM> may configure a third information screen <NUM> for notifying the driver of a situation where a lane change by deceleration is performed through the query message <NUM>, "It is expected to perform a lane change after deceleration. Do you approve it?", for requesting an approval for lane change control by deceleration and may display the third information screen <NUM> on the display. In this case, when "Yes" on the third information screen <NUM> is selected by the driver, the controller <NUM> may perform lane change control based on deceleration.

Meanwhile, when the information about the tendency of the driver is set to information about a driver selection type, as shown in <FIG>, the controller <NUM> may display a fourth information screen <NUM> for inquiring about whether to accelerate or decelerate on the display of the interface <NUM>. The controller <NUM> may determine a target speed of the host vehicle with respect to any one of the deceleration based target speed and the acceleration based target speed depending on driver feedback input through the fourth information screen <NUM>.

Referring to <FIG>, the fourth information screen <NUM> may include selection buttons <NUM> and <NUM> for an "up (+)" direction and a "down (-)" direction, together with the information message <NUM> "There is a need for speed control upon lane change.

The driver may select an acceleration or deceleration type by selecting the selection button <NUM> or <NUM> for the "up (+)" or "down (-)" direction. In this case, the controller <NUM> may determine a target speed of the host vehicle on the basis of any one of the deceleration based target speed or the acceleration based target speed depending on the selection of the driver.

Herein, when a lane change by acceleration is impossible, the controller <NUM> may deactivate the selection button <NUM> corresponding to the "up (+)" direction. When a lane change by deceleration is impossible, the controller <NUM> may deactivate the selection button <NUM> corresponding to the "down (-)" direction.

In this case, the controller <NUM> may perform lane change control based on the determined target speed.

The apparatus <NUM> in one form of the present disclosure may be implemented in the form of an independent hardware device including a memory and a processor for processing each operation or may be driven in the form of being included in another hardware device such as a microprocessor or a universal computer system.

A description will be given in detail of an operation of the apparatus <NUM> including the above-mentioned components.

<FIG> are flowcharts illustrating a method for lane change control according to another exemplary form of the present disclosure.

Referring to <FIG>, when a turn signal is activated in operation S110, in operation S120, an apparatus may determine whether a first critical distance calculated for a first vehicle behind a lane to be changed is greater than or equal to a reference distance D1. In operation S130, the apparatus may determine whether a second critical distance calculated for a second vehicle in front of the lane to be changed is greater than or equal to a reference distance D2.

When both the first and second critical distances are greater than or equal to the reference distances D1 and D2, respectively, in operations S120 and S130, in operation S135, the apparatus may determine that both of lane change conditions for the first and second vehicles are met and may notify the driver of a state where lane change control is performed. In operation S200, the apparatus may perform lane change control.

Meanwhile, when the first or second critical distance is less than the reference distance D1 or D2 in operation S120 or S130, in operation S140, the apparatus may determine that the lane change conditions are not met and may verify that a lane change is impossible.

When it is verified that the lane change is impossible in operation S140, in operation S150, the apparatus may call lane change configuration information preset by the driver. In operation S160, the apparatus may predict whether a lane change by acceleration/deceleration is possible, based on the lane change configuration information called in operation S150.

In operation S160, the apparatus <NUM> may determine a speed adjustment range relative to a setting speed of a host vehicle based on a maximum speed difference for allowing acceleration and a maximum speed difference for allowing deceleration included in the lane change configuration information and may predict a situation where lane change control is performed, with respect to each speed in the determined speed adjustment range, thus determining whether a lane change is possible for each speed.

When it is verified that the lane change is impossible in operation S170, in operation S171, the apparatus <NUM> may configure an information screen and may notify the driver that the lane change is impossible to end the process.

On the other hand, when it is verified that the lane change is possible in operation S170, in operation S180, the apparatus <NUM> may determine a target speed. In operation S190, the apparatus <NUM> may notify the driver that a lane change is performed by speed adjustment.

In operation S200, the apparatus <NUM> may perform lane change control on the basis of the changed target speed.

<FIG> illustrates a detailed operation of operation S160 of <FIG>.

Referring to <FIG>, in operation S310, an apparatus <NUM> may set initial variables, for example, "V = Vcur -VΔmax-<NUM>", "ΔV = <NUM> kph", "Index = <NUM>", and "FlagEst = <NUM>". In this case, in operation S320, the apparatus <NUM> may predict whether a lane change is possible on the basis of the set V.

When the lane change is possible on the basis of V in operation S320, in operation S330, the apparatus <NUM> may set variables, for example, "FlagEst = <NUM>" and "V[Index]LC = V".

Meanwhile, when the lane change is impossible on the basis of V in operation S320, the apparatus <NUM> may omit operation S330.

In operation S345, the apparatus <NUM> may increase V by ΔV and may increase the index by <NUM> until "V = Vcur + VΔmax+" and may repeat operation S320.

When "V = Vcur + VΔmax+" in operation S340, in operations S350 to S370, the apparatus <NUM> may determine a state where the lane change is possible or impossible depending on whether there is "V[Index]LC = C" where "FlagEst = <NUM>".

<FIG>, <FIG> and <FIG> illustrate a detailed operation of operation S180 of <FIG>.

First of all, referring to <FIG>, in operation S410, an apparatus <NUM> may set initial variables, for example, "Flag+ = <NUM>", "Flag- = <NUM>", and "Index = size (Vok)". Herein, "Index = size(Vok)" may refer to an index value in which there is a real vehicle speed V of a host vehicle capable of performing a lane change in the process of <FIG>, and an initial value of an index may be set to the highest value among index values.

When "V[index]LC - Vcur > <NUM>" in operation S420, in operation S430, the apparatus <NUM> may set variables, for example, "Flag+ = <NUM>" and "Vfinal+= V[Index]LC". When "V[index]LC - Vcur ≤ <NUM>" in operation S420, in operation S425, the apparatus <NUM> may set variables, for example, "Flag- = <NUM>" and "Vfinal- = V[Index]LC". The apparatus <NUM> may decrease the index by <NUM> until "Index = <NUM>" and may repeat operations S420 to S440.

Thereafter, the apparatus <NUM> may perform the process from A of <FIG>.

The apparatus <NUM> may determine a target speed in consideration of a driving pattern of a driver for the lane change.

Referring to <FIG> and <FIG>, in operation S510, the apparatus <NUM> may set an initial variable, for example, "FlagLC = <NUM>" and may determine the driving pattern of the driver from lane change configuration information.

When the driving pattern of the driver is a constant speed driving pattern in operation S520, the apparatus <NUM> may perform operations S521 to S523 of <FIG> and S524 to S527 of <FIG>, and may set a target speed on the basis of a speed with the lowest difference with a setting speed of a vehicle among speeds capable of performing a lane change.

Meanwhile, when the driving pattern of the driver for the lane change is an acceleration driving pattern in operation S530, in operation S531, the apparatus <NUM> may verify whether "Flag+ = <NUM>" by the process of <FIG>. "Flag+ = <NUM>" may mean that a lane change acceleration is possible. Thus, when "Flag+ = <NUM>" in operation S531, in operation S532, the apparatus <NUM> may set a target speed of a host vehicle, for example, "Vfinal = Vanal+", and may set a variable, for example, "FlagLC = <NUM>". Meanwhile, when "Flag+ ≠ <NUM>" in operation S531, in operation S533, the apparatus <NUM> may set the target speed of the host vehicle, for example, "Vfinal = Vfinal-" and may set a variable, for example, "FlagLC = <NUM>".

Meanwhile, when the driving pattern of the driver for the lane change is a deceleration driving pattern in operation S540, in operation S541, the apparatus <NUM> may verify whether "Flag- = <NUM>" by the process of <FIG>. "Flag- = <NUM>" may mean that a lane change by deceleration is possible. Thus, when "Flag-<NUM> = <NUM>" in operation S541, in operation S542, the apparatus <NUM> may set the target speed of the host vehicle, for example, "Vfinal =Vfinal-" and may set a variable, for example, "FlagLC = <NUM>". Meanwhile, when "Flag- ≠ <NUM>" in operation S541, in operation S543, the apparatus <NUM> may set the target speed of the host vehicle, for example, "Vfinal = Vfinal+" and may set a variable, for example, "FlagLC = <NUM>".

Meanwhile, when the driving pattern of the driver is not set to any one of the patterns, i.e., the constant speed driving, the acceleration driving, or the deceleration driving, in operation S550, the apparatus <NUM> may guide the driver to select an acceleration/deceleration type.

Thereafter, when driver feedback of the acceleration type is received through operation S550 in operations S560 and S570, in operation S580, the apparatus <NUM> may set the target speed of the host vehicle, for example, "Vfinal = Vfinal+" and may set a variable, for example, "FlagLC = <NUM>". Meanwhile, when driver feedback of the acceleration type is received through operation S550 in operations S560 and S570, in operation S590, the apparatus <NUM> may set the target speed of the host vehicle, for example, "Vfinal = Vfinal-" and may set the variable, for example, "FlagLC = <NUM>".

Meanwhile, when driver feedback is not received over time T through operation S550 in operation S565, the apparatus <NUM> may perform operation S171 of <FIG>.

<FIG> is a block diagram illustrating a configuration of a computing system which executes a method according to an exemplary form of the present disclosure.

Referring to <FIG>, a computing system <NUM> may include at least one processor <NUM>, a memory <NUM>, a user interface input device <NUM>, a user interface output device <NUM>, a storage <NUM>, and a network interface <NUM>, which are connected with each other via a bus <NUM>.

The processor <NUM> may be a central processing unit (CPU) or a semiconductor device for processing instructions stored in the memory <NUM> and/or the storage <NUM>. Each of the memory <NUM> and the storage <NUM> may include various types of volatile or non-volatile storage media. For example, the memory <NUM> may include a read only memory (ROM) and a random access memory (RAM).

Thus, the operations of the methods or algorithms described in connection with the forms disclosed in the specification may be directly implemented with a hardware module, a software module, or combinations thereof, executed by the processor <NUM>. The software module may reside on a storage medium (e.g., the memory <NUM> and/or the storage <NUM>) such as a RAM, a flash memory, a ROM, an erasable and programmable ROM (EPROM), an electrically EPROM (EEPROM), a register, a hard disc, a removable disc, or a compact disc-ROM (CD-ROM). An exemplary storage medium may be coupled to the processor <NUM>. The processor <NUM> may read out information from the storage medium and may write information in the storage medium. Alternatively, the storage medium may be integrated with the processor <NUM>. The processor and storage medium may reside in an application specific integrated circuit (ASIC). Alternatively, the processor and storage medium may reside as a separate component of the user terminal.

According to another form of the present disclosure, the apparatus <NUM> may stably perform lane change control by determining whether a lane change is possible in consideration of a vehicle located at a front side of a host vehicle as well as a vehicle located at a rear side of the host vehicle upon lane change control.

Furthermore, in other form of the present disclosure, the apparatus <NUM> may implement a more precise lane change control function by predicting whether a lane change is possible in an acceleration or deceleration state in a state where a lane change is impossible and performing lane change control based on acceleration or deceleration depending on the predicted result. The apparatus <NUM> may enhance the satisfaction of the driver by performing lane change control in consideration of a tendency of the driver for acceleration or deceleration upon lane change control.

Claim 1:
An apparatus (<NUM>) for a lane change control, comprising:
a determination device (<NUM>) configured to determine lane change conditions for a first vehicle (<NUM>) and a second vehicle (<NUM>), which are each travelling in a target lane to which a host vehicle performs a lane change, wherein the first vehicle is located behind the host vehicle, and the second vehicle is located in front of the host vehicle; and
a controller (<NUM>) configured to perform the lane change control for the host vehicle when both the lane change conditions for the first and second vehicles are met,
characterised in that the controller is configured to:
perform the lane change control at a minimum speed within a speed adjustment range of the host vehicle when changing lanes by acceleration; and
perform the lane change control at a maximum speed within the speed adjustment range of the host vehicle when changing lanes by deceleration.