US 12,280,769 B2
Driving assist device
Takahiro Furuya, Tokyo (JP); Hideki Sugawara, Tokyo (JP); Anfen Ye, Tokyo (JP); Kazuki Yamaguchi, Tokyo (JP); Wataru Matsudate, Tokyo (JP); Hayato Hori, Tokyo (JP); and Takayuki Sato, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Dec. 19, 2022, as Appl. No. 18/068,121.
Claims priority of application No. 2022-007428 (JP), filed on Jan. 20, 2022.
Prior Publication US 2023/0227026 A1, Jul. 20, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 30/18 (2012.01); B60W 50/00 (2006.01)
CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); B60W 30/18159 (2020.02); B60W 50/0097 (2013.01); B60W 2554/4045 (2020.02); B60W 2554/4046 (2020.02)] 5 Claims
OG exemplary drawing
 
1. A driving assist device comprising:
one or more processors; and
one or more memories including instructions, when executed, causing the one or more processors to be configured to:
acquire traveling environment information about a traveling environment ahead of a vehicle;
acquire information about an oncoming vehicle traveling in an oncoming lane;
perform driving assistance when the vehicle changes a course by crossing the oncoming lane;
set a predicted travel region based on vehicle behavior of the oncoming vehicle when the vehicle enters an intersection and the oncoming vehicle, which enters the intersection, approaching the vehicle is detected based on the information about the oncoming vehicle;
when the vehicle enters the predicted travel region in a travel path of the vehicle, determine whether there is a possibility of contact between the vehicle and the oncoming vehicle based on the predicted travel region and the travel path of the vehicle;
bring the vehicle to a stopped state outside of the predicted travel region when determining that there is the possibility of the contact between the vehicle and the oncoming vehicle;
after the vehicle enters the stopped state, determine whether all conditions for the oncoming vehicle are met, wherein all the conditions include lighting of a blinker indicating a turn toward an inner side of the intersection, deceleration when entering the intersection, and steering toward the inner side of the intersection;
in response to determining that all the conditions are met, allow the vehicle to resume moving along the travel path;
in response to determining that all the conditions are not met, determine whether the oncoming vehicle has passed the travel path where the vehicle crosses the oncoming lane;
in response to determining that the oncoming vehicle has passed the travel path where the vehicle crosses the oncoming lane, allow the vehicle to resume moving along the travel path; and
in response to determining that the oncoming vehicle has not passed the travel path where the vehicle crosses the oncoming lane, maintain the stopped state of the vehicle.