US 12,391,240 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. 18/149,308.
Claims priority of application No. 2022-008968 (JP), filed on Jan. 24, 2022.
Prior Publication US 2023/0234573 A1, Jul. 27, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 30/095 (2012.01)
CPC B60W 30/09 (2013.01) [B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/80 (2020.02)] 21 Claims
OG exemplary drawing
 
1. A vehicle driving assist device comprising:
a traveling environment recognizer configured to recognize traveling environment information about a traveling environment 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 collision of the vehicle with the obstacle;
an oncoming moving body recognizer configured to recognize, based on the traveling environment information, an oncoming moving body moving in an oncoming lane adjacent to a traveling lane of the vehicle and having a velocity component in a direction opposite to a traveling direction of the vehicle;
a lateral position distribution characteristics acquisition unit configured to acquire distribution characteristics of a lateral position of the oncoming moving body based on a positional deviation of the oncoming moving body from a reference lateral position in the oncoming lane;
a risk determination region setting unit configured to set, based on the distribution characteristics of the lateral position, a risk determination region for the oncoming moving body,
wherein the risk determination region extends in a lateral direction from a center of the oncoming lane and covers the traveling lane of the vehicle, and comprises sub-regions assigned different risk degrees,
wherein one of the sub-regions includes a danger region that is closest to the oncoming moving body and corresponds to a highest risk degree, and
wherein the risk determination region setting unit is further configured to adjust widths of the sub-regions in accordance with a lateral position variation of the oncoming moving body relative to the reference lateral position, such that as the lateral position variation increases and the distribution characteristics of the lateral position tend to disperse, the danger region expands in the lateral direction while at least one other sub-region other contracts;
a risk degree calculator configured to determine a 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; and
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.