US 12,319,290 B2
Driving assistance apparatus for vehicle
Katsuyuki Umezawa, Tokyo (JP); Hiroaki Kuramochi, Tokyo (JP); Satoshi Nakano, Tokyo (JP); Masashi Okano, Tokyo (JP); Shuhei Dairokuno, Tokyo (JP); Motohiro Hidaka, Tokyo (JP); and Tatsuro Suzuki, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Jul. 20, 2023, as Appl. No. 18/224,248.
Claims priority of application No. 2022-121719 (JP), filed on Jul. 29, 2022.
Prior Publication US 2024/0034321 A1, Feb. 1, 2024
Int. Cl. B60W 30/18 (2012.01)
CPC B60W 30/18159 (2020.02) [B60W 2552/05 (2020.02)] 7 Claims
OG exemplary drawing
 
1. A driving assistance apparatus for a vehicle, the driving assistance apparatus comprising:
an environment information acquisitor configured to acquire environment information in front of the vehicle;
a target route setter configured to set a target route of the vehicle; and
a controller configured to cause the vehicle to travel along the target route, wherein
the controller comprises:
an intersection determiner configured to determine whether there is an intersection in front of the vehicle based on the environment information;
a right-left turn determiner configured to, when the intersection determiner determines that there is the intersection, determine whether the vehicle turns right or left at the intersection;
a multiple intersecting road determiner configured to, when the right-left turn determiner determines that the vehicle turns right or left, check whether there is a second intersecting road adjacent to a first intersecting road to which the vehicle turns right or left;
a route generator configured to, when the multiple intersecting road determiner determines that there is the second intersecting road, generate a correct route and a quasi-correct route at the intersection before the vehicle enters the intersection, the correct route being coupled to the target route generated in the first intersecting road, the quasi-correct route being coupled to the second intersecting road;
an estimated traveling route setter configured to set an estimated traveling route of the vehicle in the intersection based on a behavior of the vehicle;
a lateral position distance calculator configured to calculate a correct-route-side lateral position distance from the estimated traveling route to the correct route in a vehicle width direction of the vehicle and a quasi-correct-route-side lateral position distance from the estimated traveling route to the quasi-correct route in the vehicle width direction;
a lateral position distance comparator configured to compare the correct-route-side lateral position distance and the quasi-correct-route-side lateral position distance; and
an intervention controller configured to, when the lateral position distance comparator determines that the correct-route-side lateral position distance is longer than the quasi-correct-route-side lateral position distance by a predetermined distance or more, set a traveling direction of the vehicle to a side of the quasi-correct route.