{
  "$type": "site.standard.document",
  "description": "A vehicle lane change assist apparatus of the invention determines that objects approaching a vehicle and having a predicted reaching time equal to or shorter than a predetermined predicted reaching time, satisfy a first condition and selects the objects satisfying the first condition as…",
  "path": "/patents/1256799",
  "publishedAt": "2020-03-12T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/18163",
    "TOYOTA JIDOSHA KABUSHIKI KAISHA"
  ],
  "textContent": "A vehicle lane change assist apparatus of the invention determines that objects approaching a vehicle and having a predicted reaching time equal to or shorter than a predetermined predicted reaching time, satisfy a first condition and selects the objects satisfying the first condition as condition-determining-target-candidate objects with the number of the condition-determining-target-candidate objects being limited to a first number. The apparatus selects the condition-determining-target-candidate objects satisfying a second condition, as condition-determining-target objects with the number of the condition-determining-target objects being limited a second number equal to or smaller than the first number when a lane change assist control is requested. The apparatus executes the lane change assist control when a lane change execution condition that the vehicle does not contact any of the condition-determining-target objects while the vehicle is caused to move to a next lane by the lane change assist control, is satisfied.",
  "title": "VEHICLE LANE CHANGE ASSIST APPARATUS"
}