| CPC B60W 30/12 (2013.01) [B62D 15/021 (2013.01); G06V 20/56 (2022.01); B60W 2420/42 (2013.01); B60W 2552/53 (2020.02); B60W 2554/4045 (2020.02)] | 4 Claims |
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1. A vehicle drive assist apparatus comprising:
a stereo camera to be installed on a vehicle and configured to acquire image data on a traveling environment in front of the vehicle; and
at least one machine readable medium storing instructions and at least one processor configured to execute the instructions to:
recognize sides of dividing lines defining a travel lane as two approximate lines on a basis of the image data on the traveling environment acquired by the stereo camera, the sides of the dividing lines being adjacent to the travel lane, the two approximate lines being each in a linear form, and
set a target travel course in a middle between the two approximate lines and control a steering mechanism of the vehicle to cause the vehicle to travel along the target travel course, wherein,
when a static three-dimensional object has been continuously detected on or near one of the dividing lines on a basis of the image data on the traveling environment, the at least one processor is configured to set a virtual approximate line by correcting a lateral position of the approximate line of the one of the dividing lines on which the static three-dimensional object is placed in a direction apart from the static three-dimensional object toward a middle of the travel lane by a predetermined correction amount, and set the target travel course in a middle between the virtual approximate line and the approximate line of the other of the dividing lines, and
in a case where the static three-dimensional object has been detected in advance on a basis of map data, the at least one processor is configured to execute instructions to correct the lateral position of the approximate line of the one of the dividing lines on a basis of the map data.
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