US 12,269,469 B2
Vehicle drive assist apparatus
Seiya Sato, Tokyo (JP); Shota Yasuda, Tokyo (JP); Shigeki Mukai, Tokyo (JP); Kazuyuki Takahashi, Tokyo (JP); Wataru Munemura, Tokyo (JP); Hiroaki Kuramochi, Tokyo (JP); and Hiroki Maniwa, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Jan. 3, 2023, as Appl. No. 18/149,277.
Claims priority of application No. 2022-008109 (JP), filed on Jan. 21, 2022.
Prior Publication US 2023/0234571 A1, Jul. 27, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 50/14 (2020.01); G06V 10/44 (2022.01); G06V 20/58 (2022.01); G06V 20/56 (2022.01)
CPC B60W 30/09 (2013.01) [B60W 50/14 (2013.01); G06V 10/44 (2022.01); G06V 20/58 (2022.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2420/403 (2013.01); B60W 2554/404 (2020.02); B60W 2710/18 (2013.01); G06V 20/588 (2022.01)] 14 Claims
OG exemplary drawing
 
1. A vehicle drive assist apparatus to be applied to a vehicle, the vehicle drive assist apparatus being configured to execute at least emergency braking control for avoiding collision of the vehicle with a recognized object, the vehicle drive assist apparatus comprising:
a surrounding environment recognition device comprising:
a recognizer configured to recognize a surrounding environment around the vehicle; and
a feature information acquirer configured to acquire feature information of a-target object in the recognized surrounding environment, wherein the feature information includes a transparency of the target object; and
a traveling control unit configured to:
determine, based on the acquired feature information, whether the target object has a possibility of hindering traveling of the vehicle, wherein determining whether the target object has the possibility of hindering traveling of the vehicle includes determining whether the transparency of the target object is lower than a predetermined threshold based on the acquired information including the transparency of the target object; and
continue traveling control for the vehicle when the target object is determined to have no possibility of hindering the traveling of the vehicle.