Patent attributes
In a driving assist apparatus for assisting a lane change from an own lane to a target lane, when a post-smoothing probability obtained by smoothing a time course change in “a lane presence possibility which increases with the possibility that a target is another vehicle traveling in the target lane (target lane other vehicle)” is greater than a threshold value, that target can be extracted as the target lane other vehicle. The post-smoothing probability requires some length of time to coincide with the lane presence possibility. Therefore, if after completion of a lane change, another lane change is immediately started in the same direction, there arises a possibility that the target lane other vehicle cannot be extracted properly. Therefore, in the case where after completion of a lane change, another lane change is started in the same direction, the lane change is not started until a re-change prohibition time elapses.
