US 12,434,762 B2
Vehicle driving support apparatus
Tatsuro Suzuki, Tokyo (JP); Hiroaki Kuramochi, Tokyo (JP); Satoshi Nakano, Tokyo (JP); Masashi Okano, Tokyo (JP); Shuhei Dairokuno, Tokyo (JP); Motohiro Hidaka, Tokyo (JP); and Katsuyuki Umezawa, Tokyo (JP)
Assigned to SUBARU CORPORATION, Tokyo (JP)
Filed by SUBARU CORPORATION, Tokyo (JP)
Filed on Dec. 16, 2022, as Appl. No. 18/067,405.
Claims priority of application No. 2022-005993 (JP), filed on Jan. 18, 2022.
Prior Publication US 2023/0227100 A1, Jul. 20, 2023
Int. Cl. B62D 6/00 (2006.01); B62D 5/04 (2006.01)
CPC B62D 6/00 (2013.01) [B62D 5/0421 (2013.01); B62D 5/0463 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A vehicle driving support apparatus comprising:
a forward environment recognizing device configured to recognize a traveling environment forward of a vehicle;
a control device configured to perform active lane keep centering control based on the traveling environment recognized by the forward environment recognizing device;
an electric power steering device configured to apply an assist torque to control a turning angle of wheels of the vehicle in accordance with a steering angle received from a steering handle of the vehicle; and
a driver monitoring system configured to detect biological information of a driver who drives the vehicle, wherein
the control device is configured to:
during performing the active lane keep centering control, count a number of times a line-of-sight direction of the driver in the biological information has deviated from a target route direction of the vehicle, and
when the counted number of times is greater than or equal to a predetermined threshold count, reduce the assist torque of the electric power steering device stepwise as the counted number of times increases.