US 12,065,142 B2
Vehicle traveling control apparatus
Takaya Maeda, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Mar. 10, 2022, as Appl. No. 17/691,633.
Claims priority of application No. 2021-052037 (JP), filed on Mar. 25, 2021.
Prior Publication US 2022/0306095 A1, Sep. 29, 2022
Int. Cl. B60W 30/095 (2012.01); B60W 60/00 (2020.01)
CPC B60W 30/0956 (2013.01) [B60W 60/00276 (2020.02); B60W 2554/20 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4045 (2020.02); B60W 2556/45 (2020.02)] 4 Claims
OG exemplary drawing
 
1. A vehicle traveling control apparatus comprising:
a first recognition unit configured to recognize, on a basis of first surrounding environment information acquired by an autonomous sensor device, a surrounding environment around a first vehicle to which the vehicle traveling control apparatus is to be applied, the surrounding environment around the first vehicle including a mobile object present around the first vehicle;
a transceiver configured to perform wireless communication with an external system outside the first vehicle to send the first surrounding environment information to the external system and receive second surrounding environment information from the external system;
a second recognition unit configured to recognize the surrounding environment around the first vehicle on a basis of the second surrounding environment information; and
a traveling control unit configured to control traveling of the first vehicle and including an emergency braking control unit configured to perform emergency braking control to stop the first vehicle in a case where there is a possibility of contact between the first vehicle and the mobile object recognized by the first recognition unit, wherein,
while the first vehicle is traveling at low speed,
the transceiver is configured to send the first surrounding environment information regarding the first vehicle to a second vehicle parked in front of the first vehicle in a traveling direction of the first vehicle and receive the second surrounding environment information from the second vehicle,
the second recognition unit is configured to recognize, on the basis of the second surrounding environment information, that the mobile object is present in a blind spot of the first vehicle in front of the first vehicle in the traveling direction of the first vehicle, or that the second vehicle which is parked is in a transition state from a stopping state to a traveling ready state, and
the traveling control unit is configured to execute deceleration control and change an operation starting threshold to a threshold lower than an ordinary value in a case where there is the possibility of contact between the first vehicle and the mobile object or the second vehicle, the operation starting threshold being a control parameter of the emergency braking control.