US 12,227,183 B2
Traveling control apparatus
Noriaki Taguchi, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Sep. 19, 2022, as Appl. No. 17/947,831.
Claims priority of application No. 2021-159667 (JP), filed on Sep. 29, 2021.
Prior Publication US 2023/0099932 A1, Mar. 30, 2023
Int. Cl. B60W 30/165 (2020.01); B60W 10/20 (2006.01); B60W 30/12 (2020.01)
CPC B60W 30/165 (2013.01) [B60W 10/20 (2013.01); B60W 30/12 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02); B60W 2554/801 (2020.02)] 5 Claims
OG exemplary drawing
 
1. A traveling control apparatus to be mounted on a vehicle, the traveling control apparatus comprising at least one processor, wherein
the at least one processor is configured to function as a driving assistance controller, and
the driving assistance controller is configured to:
delay a change in a lateral position of a preceding vehicle ahead of the vehicle to obtain a delayed lateral position of the preceding vehicle, wherein the driving assistance controller is configured to delay the change in the lateral position of the preceding vehicle on a basis of the lateral position of the preceding vehicle with respect to the vehicle and an amount of lateral shift of the preceding vehicle,
calculate the amount of the lateral shift of the preceding vehicle on a basis of a differential value of the lateral position of the preceding vehicle with respect to the vehicle and a differential value of a lateral deviation of the vehicle with respect to a traveling path of the preceding vehicle, and
provide steering control that causes the vehicle to track the preceding vehicle on a basis of the delayed lateral position of the preceding vehicle.