US 12,071,128 B2
Vehicle drive assist apparatus
Masashi Okano, Tokyo (JP); and Kazuki Takahashi, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Jul. 18, 2022, as Appl. No. 17/866,893.
Claims priority of application No. 2021-123448 (JP), filed on Jul. 28, 2021.
Prior Publication US 2023/0029842 A1, Feb. 2, 2023
Int. Cl. B60W 30/12 (2020.01); B60W 40/04 (2006.01)
CPC B60W 30/12 (2013.01) [B60W 40/04 (2013.01); B60W 2420/403 (2013.01); B60W 2540/18 (2013.01); B60W 2554/4045 (2020.02); B60W 2554/801 (2020.02)] 7 Claims
OG exemplary drawing
 
1. A vehicle drive assist apparatus to be applied to a vehicle, the vehicle drive assist apparatus being configured to execute at least lane keeping traveling control for causing the vehicle to travel along a traveling lane and lane departure prevention control for suppressing departure of the vehicle from the traveling lane, the vehicle drive assist apparatus comprising:
a surrounding situation information acquisition device configured to acquire surrounding situation information of the vehicle, the surrounding situation information acquisition device comprising a camera or a radar sensor;
a steering angle sensor configured to detect a steering angle and a steering direction of the vehicle; and
a traveling controller configured to centrally control the vehicle, the traveling controller comprising a steering assist controller configured to execute traveling control involving steering assist control based on information output from the surrounding situation information acquisition device and information output from the steering angle sensor,
wherein the steering assist controller is configured to
recognize, based on the information output from the surrounding situation information acquisition device, an oncoming vehicle in an oncoming lane adjacent to the traveling lane of the vehicle and an avoidance target on a road shoulder side of the traveling lane of the vehicle,
estimate an avoidance priority level of the oncoming vehicle and an avoidance priority level of the avoidance target, and
set a new target lane keeping traveling path of the vehicle based on the avoidance priority level of the oncoming vehicle and the avoidance priority level of the avoidance target.