US 12,304,467 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. 29, 2022, as Appl. No. 18/148,142.
Claims priority of application No. 2022-007429 (JP), filed on Jan. 20, 2022.
Prior Publication US 2023/0227028 A1, Jul. 20, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 10/18 (2012.01); B60W 30/095 (2012.01); B60W 30/18 (2012.01); B60W 30/182 (2020.01); B60W 50/00 (2006.01)
CPC B60W 30/09 (2013.01) [B60W 10/18 (2013.01); B60W 30/0956 (2013.01); B60W 30/18159 (2020.02); B60W 30/182 (2013.01); B60W 50/0097 (2013.01); B60W 2540/12 (2013.01); B60W 2554/4045 (2020.02); B60W 2554/4046 (2020.02); B60W 2710/18 (2013.01)] 10 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;
have, as driving modes for the vehicle, a manual driving mode where a driver who drives the vehicle operates the vehicle and a driving assist mode, and, in the driving assist mode, perform driving assistance when the vehicle changes a course by crossing the oncoming lane at an intersection; and
determine whether the vehicle is set to the driving assist mode,
wherein, in response to determining that the vehicle is set to the driving assist mode, the one or more processors are further configured to:
when the vehicle enters the intersection, determine whether the oncoming vehicle, which has not yet reached the intersection, is traveling in the oncoming lane toward the intersection based on the information about the oncoming vehicle acquired;
upon determining that the oncoming vehicle, which has not yet reached the intersection, is traveling in the oncoming lane toward the intersection, determine whether a course of the oncoming vehicle is predictable based on vehicle behavior of the oncoming vehicle,
upon determining that the course of the oncoming vehicle is predictable, continue the driving assist mode based on the course of the oncoming vehicle;
upon determining that the course of the oncoming vehicle is unpredictable, set a predicted travel region of the oncoming vehicle based on the vehicle behavior, cause the vehicle to stop outside of the predicted travel region, and change the driving mode to the manual driving mode as a result of the vehicle stopping, and
wherein determining whether the course of the oncoming vehicle is predictable based on the vehicle behavior of the oncoming vehicle includes:
determining that the course of the oncoming vehicle is unpredictable in response to detecting that the oncoming vehicle, at a position within a range distanced from the intersection by a predetermined distance, is traveling a turn only lane, and has not turned on a blinker that indicates a direction corresponding to the turn only lane; and
determining that the course of the oncoming vehicle is predictable in response to detecting that the oncoming vehicle, at the position, is traveling the turn only lane, and has turned on the blinker.