CN108569290B

CN108569290B - Electronic control device and method for vehicle and vehicle comprising same

Info

Publication number: CN108569290B
Application number: CN201710130715.2A
Authority: CN
Inventors: 唐帅
Original assignee: Audi AG
Current assignee: Audi AG
Priority date: 2017-03-07
Filing date: 2017-03-07
Publication date: 2022-01-07
Anticipated expiration: 2037-03-07
Also published as: CN108569290A

Abstract

The present invention relates to an electronic control device and method for a vehicle and a vehicle including the same. The method includes: performing lane keeping assist when the vehicle attempts to change the current lane, the lane keeping assist is used to assist the vehicle to keep in the current lane; judging whether the vehicle needs to change from the current lane to the target lane; and satisfying the destination condition in the target lane Inhibit lane keep assist.

Description

Electronic control device and method for vehicle and vehicle comprising same

Technical Field

The present application relates generally to the field of vehicles and, more particularly, to an electronic control device and method for a vehicle and a vehicle including the device.

Background

More and more vehicles are equipped with a lane keeping assist system for assisting the vehicle to keep driving in a current lane to avoid a risk of the vehicle deviating from the current lane and a lane change assist system for assisting the vehicle to safely make a lane change to avoid a collision with another oncoming vehicle behind. However, in some cases, the lane keeping assist system and the lane change assist system cannot be operated intelligently, which affects driving comfort and safety.

Disclosure of Invention

According to an aspect of the present application, there is provided an electronic control device for a vehicle, including: a lane keeping assist unit for performing lane keeping assist for assisting the vehicle to keep in a current lane when the vehicle attempts to change the current lane; the judging unit is used for judging whether the vehicle has a requirement of changing from a current lane to a target lane; and an adjustment unit configured to suppress lane keeping assist in a case where the target lane satisfies the destination condition.

According to another aspect of the present application, there is provided an electronic control method for a vehicle, including: performing lane keeping assist for assisting the vehicle to keep in the current lane when the vehicle attempts to change the current lane; judging whether the vehicle has a requirement for changing from a current lane to a target lane; and suppressing lane keeping assist in a case where the target lane satisfies the destination condition.

According to an aspect of the present application, there is provided a vehicle including the above-described electronic control apparatus.

The electronic control device and the method for the vehicle and the vehicle comprising the electronic control device provide a technical scheme capable of improving the safety and comfort of driving the vehicle.

Drawings

The invention may be better understood from the following description of embodiments of the invention taken in conjunction with the accompanying drawings in which like reference numerals identify identical or functionally similar elements:

FIG. 1 is a simplified schematic diagram of an automobile including an electronic control device according to an embodiment of the present application;

2A-2C are diagrams illustrating three exemplary scenarios, respectively, of operation of an electronic control of an automobile, according to an embodiment of the present application;

FIG. 3 shows a flow chart of an electronic control method for a vehicle, according to an embodiment of the present application; and

fig. 4 shows a schematic configuration diagram of an information processing apparatus in which an electronic control device in the embodiment of the present application can be implemented.

Detailed Description

Features and exemplary embodiments of various aspects of the present invention will be described in detail below. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention. The present invention is in no way limited to any specific configuration and algorithm set forth below, but rather covers any modification, replacement or improvement of elements, components or algorithms without departing from the spirit of the invention. In the drawings and the following description, well-known structures and techniques are not shown in order to avoid unnecessarily obscuring the present invention.

Fig. 1 is a simplified schematic diagram of an automobile 100, and an electronic control device according to an embodiment of the present application may be used in the automobile 100. Although an automobile is taken as an example, the present application is not limited to the application to automobiles, but may be applied to other motor vehicles, for example, various vehicles having an internal combustion engine, an electric motor, or the like as a power mechanism. As shown in fig. 1, the automobile 100 includes an electronic control device 110 and a navigation device 120, which may be connected to each other, for example, to a Controller Area Network (CAN) bus of the automobile 100, respectively. Well-known power and steering devices, drive trains, and the like in the vehicle 100 are not shown in FIG. 1 for the sake of clarity.

The navigation device 120 may be, for example, a Global Positioning System (GPS) device, an A-GPS device, an inertial positioning device, or the like. In one embodiment, the navigation device 120 may determine navigation data such as the current location and map data of the automobile 100. In one embodiment, the navigation device 120 may calculate route information of the automobile 100 according to the current location of the automobile 100 and destination information input by the user.

The electronic control device 110 may include, for example, an Electronic Control Unit (ECU). The ECU may be implemented by a processor (e.g., a microprocessor), a controller (e.g., a microcontroller), programmable logic circuitry (e.g., a Field Programmable Gate Array (FPGA)), an Application Specific Integrated Circuit (ASIC), and the like. In one embodiment, the ECU also includes one or more memories, such as Random Access Memory (RAM), Read Only Memory (ROM), erasable programmable memory (EPROM), electrically erasable programmable memory (EEPROM), and the like. The memory may be used to store data, instructions, software, code, etc. that are executed to perform the actions described herein.

According to an embodiment, the electronic control device 110 may include a lane keeping assist unit 112, a determination unit 114, and an adjustment unit 116.

The lane keeping assist unit 112 is used to perform a lane keeping assist function, thereby assisting the automobile 100 to keep a current lane driving to avoid a danger of deviating from the lane in a situation where a lane change is not desired. In one embodiment, the lane keeping aid unit 112 may detect whether the automobile 100 deviates from the lane by recognizing the sign line of the lane through a camera. The lane keeping assist unit 112 activates the lane keeping assist function if the automobile 100 is close to one of the two sign lines of the current lane (for example, less than a predetermined threshold value), or the automobile 100 is driven while pressing the line.

In one embodiment, the lane keeping assist unit 112 may include a first warning unit for performing lane keeping assist by providing first warning information to the driver when the automobile 100 deviates from the current lane. The first warning information may include visual, audible, and tactile warning information, including but not limited to: the warning lamp is changed from an off state to an on state; the warning lamp changes from a non-flashing state to a flashing state; a warning sound; the steering wheel generates vibration, etc.

In one embodiment, the lane keeping assist unit 112 may comprise a first assist unit for performing lane keeping assist by providing a force to return the car 100 to the current lane when the car 100 deviates from the current lane, e.g. providing a certain amount of torque to the steering wheel, which is opposite to the direction in which the car 100 deviates from the lane, so that the car 100 returns to driving in the current lane, e.g. so that the distance between the two sign lines is larger than a predetermined threshold.

In one embodiment, the lane keeping assist unit 112 may include both the first warning unit and the first assist unit.

In one embodiment, when the camera recognizes that the automobile 100 approaches the marking line of the current lane and may be driven off the lane, the first warning unit may provide the driver with first warning information to warn the driver.

In one embodiment, when the camera recognizes that the car 100 is approaching the sign line of the current lane and may be traveling off the lane, the first auxiliary unit may automatically keep the car 100 in the current lane by providing a force to return the car 100 to the current lane.

In one embodiment, the first assisting unit may provide the driver with warning information to attract the driver's attention while automatically keeping the car 100 in the current lane.

The operation of the determination unit 114 and the adjustment unit 116 will be described in detail below.

In one embodiment, the electronic control device 110 may include a route information acquisition unit (not shown in fig. 1) for acquiring route information of the automobile 100 from a current location to a destination based on navigation data from the navigation device 120 of the automobile 100.

In one embodiment, the navigation device 120 may provide navigation data such as the current position of the automobile 100 and map data, and the route information obtaining unit may calculate route information of the automobile 100 from the current position to the destination based on the navigation data.

In one embodiment, the navigation device 120 may calculate route information from the current position of the automobile 100, the destination address input by the driver, and the map data, and the route information acquiring unit acquires the route information from the current position of the vehicle to the destination directly from the navigation device 120.

In one embodiment, the electronic control device 110 may include a lane change assist unit (not shown in fig. 1) that performs a lane change assist function (also referred to as lateral assist, blind spot assist, etc.) when the automobile 100 attempts to change the current lane to assist the automobile 100 in avoiding a potential hazard when changing to the target lane.

Since the driver cannot obtain all information behind the driver by looking at the rear view mirror, that is, there is a blind area, in one embodiment, the lane change assisting unit may detect whether there are other vehicles within a predetermined range behind the automobile 100 through a sensor, thereby avoiding a danger that the automobile 100 collides with other vehicles when changing lanes. The sensor may include one or more of a distance sensor, an image sensor. The distance sensor may be, for example, a radar, laser, or ultrasonic sensor, which may sense the distance of the object, so that the sensed object condition within the predetermined distance (e.g., whether there is another vehicle within the predetermined distance) may be obtained. The image sensor may be, for example, a monochrome or color (e.g., RGB) camera, an infrared camera, or a hybrid camera with RGB and distance/depth sensing capabilities, or the like. A typical camera is capable of capturing (e.g., operating at an angle of about 60 °) in real time conditions outside the automobile 100 and analyzing the images to obtain information, for example, whether there are other vehicles at a predetermined distance behind the automobile. The infrared camera may allow for accurate capture of objects under low light conditions, such as at night. The position of the sensors may be, for example, on both rear-view mirrors of the car 100, on the rear bumper of the car 100, etc.

In one embodiment, the lane change assist unit may include a second warning unit for performing lane change assist by providing second warning information to the driver when the automobile 100 attempts to change the current lane. Similar to the first warning message, the second warning message may include visual, audible, and tactile warning messages, including but not limited to: the warning lamp is changed from an off state to an on state; the warning lamp changes from a non-flashing state to a flashing state; a warning sound; the steering wheel generates vibration, etc.

In one embodiment, the lane change assist unit may include a second assist unit for performing lane change assist by providing a force to return the automobile 100 to the current lane when the automobile 100 attempts to change the current lane, for example, providing a certain amount of torque to the steering wheel, which is opposite in direction to the lane change performed by the automobile 100, so that the automobile 100 returns to travel on the current lane.

In one embodiment, a vehicle, such as an automobile 100, is provided that includes the electronic control device 110 described above.

Fig. 2A-2C are diagrams illustrating three exemplary scenarios, respectively, of operation of an electronic control device of an automobile, according to an embodiment of the present application.

Fig. 2A is an exemplary scenario 200A of the operation of the electronic control device 110 of the automobile 100 according to an embodiment of the application. As shown in fig. 2A, the automobile 100 travels from south to north on a road having three

lanes

220, 230, and 240, and is about to exit the current road and travel to the right to another road where a lane 250 is located, thereby arriving at the destination 210.

As described above, the lane keeping assist unit 112 in the electronic control device 110 is used to perform lane keeping assist when the automobile 100 deviates from the current lane to assist the automobile 100 to keep traveling in the current lane. In one embodiment, the lane keeping aid unit 112 may detect the marking

lines

231 and 232 of the current lane 230 through a camera configured on the automobile 100 to determine whether the automobile 100 deviates from the lane 230. If the automobile 100 deviates from the lane 230, the first warning unit of the lane keeping aid unit 112 will provide warning information to the driver to alert the driver, for example, sounding a warning sound, vibrating the steering wheel, flashing a warning light on the dashboard or rearview mirror, etc.; and/or the first auxiliary unit of the lane keeping auxiliary unit 112 will provide a force to return the car 100 to the current lane 230 to perform lane keeping assistance, e.g. the first auxiliary unit will automatically turn the car 100 back to travel in the lane 230 by providing a torque to the steering wheel in the opposite direction to the direction deviating from the lane 230. The amount of torque provided may be a predetermined value or may be dynamically determined based on the degree to which the vehicle 100 is departing from the lane.

As shown in fig. 2A, the automobile 100 is currently traveling in the lane 230. To reach destination 210, car 100 should change from lane 230 to lane 240, and then from lane 240 to lane 250, see the example of the trajectory indicated by the arrow in fig. 2A.

The determination unit 114 in the electronic control device 110 is used to determine whether the automobile 100 has a need to change from the current lane to the target lane. In this example, the determination unit 114 determines that the automobile 100 has a need to change from the current lane 230 to the target lane 240.

The adjusting unit 116 in the electronic control device 110 is used to suppress lane keeping assist in the case where the target lane satisfies the destination condition. The suppression may be, for example, such that the warning flashing light does not flash or changes from a flashing state to a non-flashing state, the warning light remains off or changes from on to off, the warning sound fades or turns off, the steering wheel does not shake or the shake fades.

In the example of fig. 2A, the target lane in the lane change action to lane 240 from lane 230 is 240, and this is the lane change action that the car 100 should make to lane 250. Therefore, the target lane 240 in this lane change action satisfies the destination condition, that is, the direction of the target lane 240 coincides with the direction of the lane 250 to be finally changed.

Similarly, if the automobile 100 is traveling on the lane 220, the determination unit 114 determines that it has a need to change to the lane 230, and the lane 230 satisfies the destination condition, so the adjustment unit 116 suppresses the lane keeping assist. Also, if the automobile 100 is traveling on the lane 240, the determination unit 114 determines that it has a need to change to the lane 250, and the adjustment unit 116 suppresses lane keeping assist because the lane 250 satisfies the destination condition.

In one embodiment, the driver may input the address of the destination 210 in the navigation device 120 of the automobile 100, and the route information acquisition unit in the electronic control device 110 may acquire the route information from the position where the automobile 100 is located to the destination 210. When the route information indicates that the automobile 100 should change from the current lane to the target lane, the determination unit 114 determines that the automobile 100 has a need to change from the current lane to the target lane.

The above embodiment is illustrated using an example of three lanes, but the present application is applicable to any number of lanes and is not limited by the number of lanes.

Fig. 2B is an exemplary scenario 200B of the operation of the electronic control device 110 of the automobile 100 according to an embodiment of the application. As shown in fig. 2B, the automobile 100 travels from south to north on a road having four

lanes

220, 230, 250, and 260, where the

lanes

220 and 230 are for vehicles traveling from south to north (e.g., the automobile 100) and the

lanes

250 and 260 are for vehicles traveling from north to south (e.g., the automobile 110). For example, lane 220 is a left turn lane and lane 230 is a right turn and straight lane. The destination of the car 100 is indicated by 210.

As shown in fig. 2B, the automobile 100 is currently traveling in the lane 230. The lane keeping assist unit 112 in the electronic control device 110 is used to perform lane keeping assist when the automobile 100 deviates from the current lane 230 to assist the automobile 100 to keep driving in the current lane 230. The description of the operation of the lane keeping assist unit 112 may be made with reference to fig. 2A, and will not be repeated here.

Based on the route information, to reach the destination 210, the automobile 100 should remain straight at the intersection 201, change from lane 230 to lane 220 after going straight through the intersection 201, and finally turn left at the intersection 202 into lane 240, see the example of the trajectory indicated by the arrow in fig. 2B.

Before the automobile 100 passes through the intersection 201, the judgment unit 114 determines that there is no need for the automobile 100 to change from the current lane 230 (straight lane) to another lane. At this time, if the automobile 100 deviates from the lane 230, the lane keeping assist unit 112 performs a lane keeping assist function to keep the automobile 100 running on the lane 230. After the automobile 100 passes straight through the intersection 201, the judging unit 114 determines that the automobile 100 has a need to change from the current lane 230 to the target lane 220 (left-turn lane). Since the target lane 220 in such a lane change operation satisfies the destination condition, the adjusting unit 116 suppresses the lane keeping assist.

The above-described embodiment is explained using an example of one-way two lanes, but the present application is applicable to a larger number (e.g., three or more) of lanes, and is not limited by the number of lanes.

Fig. 2C is an exemplary scenario 200C of the operation of the electronic control device 110 of the automobile 100 according to an embodiment of the application. As shown in fig. 2C, the automobile 100 travels from south to north on a road having four

lanes

220, 230, 250, and 260, where the

lanes

As shown in fig. 2C, the automobile 100 is currently traveling in the lane 220. The lane keeping assist unit 112 in the electronic control device 110 is used to perform lane keeping assist when the automobile 100 deviates from the current lane 220 to assist the automobile 100 to keep driving in the current lane 220. The description of the operation of the lane keeping assist unit 112 may be made with reference to fig. 2A, and will not be repeated here.

Based on the route information, to reach the destination 210, the automobile 100 should turn left at the intersection 201 into the lane 270, then change from the lane 270 to the lane 280, and finally turn right at the intersection 202 into the lane 290, see the example of the trajectory indicated by the arrow in fig. 2C.

When the automobile is traveling in the lane 270, the determination unit 114 determines that the automobile 100 has a need to change from the current lane 270 to the target lane 280. Since the target lane 280 in such a lane change operation satisfies the destination condition, the adjusting unit 116 suppresses the lane keeping assist for such a lane change operation.

In one embodiment, the electronic control device 110 may include a lane change assist unit, as described above with respect to fig. 1. The adjusting unit 116 enhances lane change assistance in the case where the target lane satisfies the destination condition. For example, when the automobile 100 needs to make a lane change based on the route information, the lane change assist function is activated in advance, instead of activating the lane change assist function when the automobile 100 is attempting a lane change, so that it is possible to predict in advance whether there is a danger in the lane change that needs to be made.

In one embodiment, if the lane change assist unit detects the presence of other vehicles in the blind zone through sensors and may pose a danger to the lane change of the automobile 100, the lane change assist unit provides a warning message to the driver to alert the driver. In one embodiment, if the lane change assist unit detects the presence of other vehicles in the blind spot through sensors and may pose a hazard to the lane change of the car 100, the lane change assist unit is ready to assist the car 100 to automatically return to the current lane, thereby avoiding the hazard. In one embodiment, the above-described provision of the warning message and preparation to assist the vehicle 100 in returning to the current lane are performed simultaneously.

The road scene and route information shown in the above figures are merely examples, and embodiments herein may be applied to other road scenes and route information. For example, a case of driving to the left front road to exit the current road, a case of going straight at one intersection and turning right at the next intersection of the intersection, a case of turning right at one intersection and turning left at the next intersection of the intersection will not be described herein. In addition, the embodiment herein takes the traffic regulation of driving to the right as an example for description, but the present application may also be applied to the traffic regulation of driving to the left, and is not described herein again.

FIG. 3 shows a flow chart of an electronic control method 300 for a vehicle, according to an embodiment of the application. In step 301, lane keeping assist is performed when the vehicle deviates from the current lane, wherein the lane keeping assist is used to assist the vehicle to keep in the current lane. At step 302, it is determined whether there is a need for a vehicle to change from a current lane to a target lane. In step 303, lane keeping assist is suppressed in the case where the target lane satisfies the destination condition.

In one embodiment, route information of a vehicle from a current location to a destination is acquired based on navigation data from a navigation device of the vehicle, wherein when the route information indicates that the vehicle should change from a current lane to a target lane, it is determined that the vehicle has a need to change from the current lane to the target lane.

In one embodiment, lane keeping assistance may be performed by at least one of: providing first warning information to a driver; providing a force to return the vehicle to the current lane.

In one embodiment, lane change assistance is performed when the vehicle attempts to change a current lane, wherein the lane change assistance is used to assist the vehicle in avoiding a potential hazard when changing to a target lane and to enhance the lane change assistance if the target lane meets a destination condition.

In one embodiment, the lane change assistance may be performed by at least one of: providing the second warning information to the driver; providing a force to return the vehicle to the current lane.

The method 300 may be understood by reference to the various exemplary embodiments described above with respect to fig. 2A-2C.

Fig. 4 shows a schematic configuration diagram of an information processing apparatus 400, and the electronic control device 110 in the embodiment of the present application may be implemented by the information processing apparatus 400. As shown in fig. 4, device 400 may include one or more of the following components: processor 420, memory 430, power components 440, input/output (I/O) interfaces 460, and communication interfaces 480, which may be communicatively coupled via a bus 410, for example.

The processor 420 controls the operation of the device 400 as a whole, e.g. in connection with data communication and computing processes, etc. Processor 420 may include one or more processing cores and may be capable of executing instructions to perform all or a portion of the steps of the methods described herein. Processor 420 may include various devices with processing capabilities including, but not limited to, general purpose processors, special purpose processors, microprocessors, microcontrollers, Graphics Processors (GPUs), Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), etc. Processor 420 may include cache 425 or may communicate with cache 425 to increase the speed of access of data.

Memory 430 is configured to store various types of instructions and/or data to support the operation of device 400. Examples of data include instructions, data, etc. for any application or method operating on device 400. The memory 430 may be implemented by any type of volatile or non-volatile storage device or combination thereof. The memory 430 may include a semiconductor memory such as a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a Dynamic Random Access Memory (DRAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Programmable Read Only Memory (EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), a flash memory, and the like. Memory 430 may also include, for example, any memory using paper, magnetic, and/or optical media, such as paper tape, hard disk, magnetic tape, floppy disk, magneto-optical disk (MO), CD, DVD, Blue-ray, and the like.

Power supply components 440 provide power to the various components of device 400. Power components 440 may include an internal battery and/or an external power interface, and may include a power management system and other components associated with generating, managing, and distributing power for device 400.

I/O interface 460 provides an interface that enables a user to interact with device 400. The I/O interface 460 may include, for example, interfaces based on PS/2, RS-232, USB, FireWire, Lighting, VGA, HDMI, DisplayPort, etc. technologies that enable a user to interact with the apparatus 400 via a keyboard, mouse, touchpad, touch screen, joystick, buttons, microphone, speaker, display, camera, projection port, etc. peripheral devices.

Communication interface 480 is configured to enable device 400 to communicate with other devices, either wired or wirelessly. Device 400 may access a wireless network based on one or more communication standards, such as a Wi-Fi, 2G, 3G, 4G communication network, through communication interface 480. In an exemplary embodiment, the communication interface 480 may also receive a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. Exemplary communication interfaces 480 may include interfaces based on communication means such as Near Field Communication (NFC) technology, Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and the like.

The functional blocks shown in the above-described structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.

The present invention may be embodied in other specific forms without departing from its spirit or essential characteristics. For example, the algorithms described in the specific embodiments may be modified without departing from the basic spirit of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Claims

1. An electronic control device for a vehicle, comprising:

a lane keeping assist unit for performing lane keeping assist for assisting the vehicle to keep in a current lane when the vehicle deviates from the current lane;

the judging unit is used for judging whether the vehicle has a requirement of changing from the current lane to a target lane;

an adjustment unit configured to suppress the lane keeping assist in a case where the target lane satisfies a destination condition; and

a route information acquisition unit for acquiring route information of the vehicle from a current position to a destination based on navigation data from a navigation device of the vehicle,

wherein the determination unit determines that the vehicle has a need to change from the current lane to the target lane when the route information indicates that the vehicle should change from the current lane to the target lane,

wherein the lane keeping assist unit comprises at least one of:

a first warning unit for performing the lane keeping assist by providing a driver with first warning information when the vehicle deviates from a current lane; and

a first assist unit configured to perform the lane keeping assist by providing a force that returns the vehicle to a current lane when the vehicle deviates from the current lane.

2. The electronic control device according to claim 1, further comprising:

a lane change assist unit for performing lane change assist when the vehicle attempts to change a current lane, the lane change assist for assisting the vehicle in avoiding a potential danger when changing to the target lane,

wherein the adjustment unit is further configured to enhance the lane change assistance if the target lane satisfies the destination condition.

3. The electronic control device according to claim 2, wherein the lane change assisting unit includes at least one of:

a second warning unit for performing the lane change assist by providing a second warning information to a driver when the vehicle attempts to change a current lane; and

a second assisting unit for performing the lane change assistance by providing a force that returns the vehicle to a current lane when the vehicle attempts to change the current lane.

4. An electronic control method for a vehicle, comprising:

performing lane keeping assist when the vehicle deviates from a current lane, the lane keeping assist for assisting the vehicle to keep in the current lane;

judging whether the vehicle has a requirement for changing from the current lane to a target lane;

suppressing the lane keeping assist if the target lane satisfies a destination condition; and

acquiring route information of the vehicle from a current location to a destination based on navigation data from a navigation device of the vehicle,

wherein when the route information indicates that the vehicle should change from the current lane to the target lane, it is determined that the vehicle has a need to change from the current lane to the target lane,

wherein performing lane keeping assistance comprises at least one of:

performing the lane keeping assist by providing a first warning information to a driver when the vehicle deviates from a current lane; and

performing the lane keeping assist by providing a force that returns the vehicle to a current lane when the vehicle deviates from the current lane.

5. The electronic control method of claim 4, further comprising:

performing lane change assistance while the vehicle is attempting to change a current lane, the lane change assistance for assisting the vehicle in avoiding a potential hazard while changing to the target lane; and

enhancing the lane change assistance if the target lane satisfies the destination condition.

6. The electronic control method of claim 5, wherein performing lane change assistance comprises at least one of:

performing the lane change assistance by providing a second warning information to a driver when the vehicle attempts to change a current lane; and

performing the lane change assistance by providing a force to return the vehicle to a current lane when the vehicle attempts to change the current lane.

7. A vehicle comprising the electronic control apparatus according to any one of claims 1 to 3.