US 12,233,863 B2
Vehicle driving assist device
Shingo Ugajin, Tokyo (JP); Kazuaki Ueda, Tokyo (JP); Takuya Iwase, Tokyo (JP); Kazuo Nomoto, Tokyo (JP); Toshihiro Hayashi, Tokyo (JP); Hiroto Kobayashi, Tokyo (JP); Kenta Someya, Tokyo (JP); and Takumi Funabashi, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Jan. 3, 2023, as Appl. No. 18/149,317.
Claims priority of application No. 2022-008969 (JP), filed on Jan. 24, 2022.
Prior Publication US 2023/0234579 A1, Jul. 27, 2023
Int. Cl. B60W 30/095 (2012.01); B60W 40/02 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/0956 (2013.01) [B60W 40/02 (2013.01); B60W 60/0016 (2020.02)] 7 Claims
OG exemplary drawing
 
1. A vehicle driving assist device comprising:
a traveling environment recognizer configured to recognize traveling environment information about a traveling environment outside a vehicle;
an obstacle recognizer configured to recognize, based on the traveling environment information, an obstacle present on a target traveling path of the vehicle;
an emergency collision avoidance controller configured to, upon determination that the vehicle is highly likely to collide with the obstacle, perform emergency collision avoidance control for avoiding a collision of the vehicle with the obstacle;
an oncoming moving body recognizer configured to recognize, based on the traveling environment information, an oncoming moving body moving in an oncoming lane adjacent to a traveling lane of the vehicle and having a velocity component in a direction opposite to a traveling direction of the vehicle;
a risk determination region setting unit configured to set a risk determination region for calculating a risk degree that decreases as a distance outward from a center of the oncoming moving body in a width direction of the oncoming moving body increases;
a risk degree calculator configured to calculate the risk degree for the oncoming moving body in accordance with an overlap state between the target traveling path of the vehicle and the risk determination region; and
a preliminary collision avoidance controller configured to recognize the oncoming moving body as the obstacle in accordance with the risk degree, and perform preliminary collision avoidance control in response to the oncoming moving body recognized as the obstacle prior to the emergency collision avoidance control.