US 12,304,468 B2
Vehicle driving assist device
Takuya Iwase, Tokyo (JP); Kazuaki Ueda, Tokyo (JP); Shingo Ugajin, Tokyo (JP); Toshihiro Hayashi, Tokyo (JP); Kazuo Nomoto, Tokyo (JP); Hiroto Kobayashi, Tokyo (JP); Takumi Funabashi, Tokyo (JP); and Kenta Someya, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Jan. 3, 2023, as Appl. No. 18/149,281.
Claims priority of application No. 2022-008967 (JP), filed on Jan. 24, 2022.
Prior Publication US 2023/0234572 A1, Jul. 27, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01); B60W 40/107 (2012.01)
CPC B60W 30/09 (2013.01) [B60W 30/0956 (2013.01); B60W 40/107 (2013.01); B60W 2520/105 (2013.01); B60W 2554/801 (2020.02)] 7 Claims
OG exemplary drawing
 
1. A vehicle driving assist device comprising:
a traveling environment recognizer configured to recognize traveling environment information 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, oncoming moving bodies and an oncoming moving body each of which moves in an oncoming lane adjacent to a traveling lane of the vehicle and each of which has 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;
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; and
an average distance calculator configured to, when performing the preliminary collision avoidance control is prevented, acquire distances in a vehicle width direction between the vehicle and the oncoming moving bodies every time the vehicle passes by the oncoming moving bodies, and calculate an average distance of the distances in the vehicle width direction, wherein
the risk determination region setting unit is further configured to, when performing the preliminary collision avoidance control is allowed, set the risk determination region such that the risk degree calculated by the risk degree calculator is zero at a distance in the vehicle width direction between the vehicle and the oncoming moving body matching the average distance.