	US 12,233,870 B2
	Vehicle driving assistance apparatus
Harunobu Horiguchi, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Nov. 28, 2022, as Appl. No. 18/059,050.
Claims priority of application No. 2021-213300 (JP), filed on Dec. 27, 2021.
Prior Publication US 2023/0202479 A1, Jun. 29, 2023
Int. Cl. B60W 30/165 (2020.01); B60W 30/18 (2012.01)

CPC B60W 30/165 (2013.01) [B60W 30/18163 (2013.01); B60W 2554/80 (2020.02); B60W 2720/106 (2013.01)]

13 Claims

1. A vehicle driving assistance apparatus comprising:

a traveling environment recognizer configured to recognize traveling environment information regarding an outside of a first vehicle to which the vehicle driving assistance apparatus is to be applied; and

an adaptive cruise controller configured to, on a basis of the traveling environment information recognized by the traveling environment recognizer, perform, in a case where a preceding vehicle is recognized ahead of the first vehicle, a follow-up traveling control of causing the first vehicle to travel to follow the preceding vehicle at a target vehicle speed set depending on a vehicle speed of the preceding vehicle, and perform, in a case where no preceding vehicle is recognized ahead of the first vehicle, a constant-speed traveling control of causing the first vehicle to travel at constant speed by setting, as the target vehicle speed, a set vehicle speed inputted by a driver who drives the first vehicle, wherein

the adaptive cruise controller is configured to, in a case where the first vehicle starts a lane change to a traveling lane during traveling based on the follow-up traveling control, keep the target vehicle speed at a start of the lane change at least until the lane change ends, and thereafter accelerate the first vehicle, by setting the set vehicle speed as a new target vehicle speed, and setting a target acceleration rate based on the new target vehicle speed.

13. A vehicle driving assistance apparatus comprising:

circuitry configured to, on a basis of the traveling environment information recognized by the traveling environment recognizer, perform, in a case where a preceding vehicle is recognized ahead of the first vehicle, a follow-up traveling control of causing the first vehicle to travel to follow the preceding vehicle at a target vehicle speed set depending on a vehicle speed of the preceding vehicle, and perform, in a case where no preceding vehicle is recognized ahead of the first vehicle, a constant-speed traveling control of causing the first vehicle to travel at constant speed by setting, as the target vehicle speed, a set vehicle speed inputted by a driver who drives the first vehicle, wherein

the circuitry is configured to, in a case where the first vehicle starts a lane change to a traveling lane during traveling based on the follow-up traveling control, keep the target vehicle speed at a start of the lane change at least until the lane change ends, and thereafter accelerate the first vehicle, by setting the set vehicle speed as a new target vehicle speed, and setting a target acceleration rate based on the new target vehicle speed.